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A control architecture for multiple submarines in coordinated search missions
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-9940-5929
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
2005 (engelsk)Inngår i: Proceedings of the 16th IFAC World Congress, IFAC , 2005, s. 109-114Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A control architecture for executing multi-vehicle search algorithms is presented. The proposed hierarchical structure consists of three control layers: maneuver controllers, vehicle supervisors and team controllers. The system model is described as a dynamic network of hybrid automata in the programming language Shift and allows reasoning about specification and dynamical properties in a formal setting. The particular search problem that is studied is that of finding the minimum of a scalar field using a team of autonomous submarines. As an illustration, a coordination scheme based on the Nelder-Mead simplex optimization algorithm is presented and illustrated through simulations.

sted, utgiver, år, opplag, sider
IFAC , 2005. s. 109-114
Serie
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Emneord [en]
Hierarchical control, autonomous vehicles, hybrid systems, search methods
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-84787Scopus ID: 2-s2.0-79960710228ISBN: 008045108X (tryckt)ISBN: 9780080451084 (tryckt)OAI: oai:DiVA.org:kth-84787DiVA, id: diva2:499618
Konferanse
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005; Prague; Czech Republic; 3 July 2005 through 8 July 2005
Merknad

QC 20120217

Tilgjengelig fra: 2012-02-17 Laget: 2012-02-13 Sist oppdatert: 2014-11-26bibliografisk kontrollert

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Johansson, Karl Henrik

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