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Hierarchical search strategy for a team of autonomous vehicles
KTH, Superseded Departments, Signals, Sensors and Systems.
KTH, Superseded Departments, Signals, Sensors and Systems.ORCID iD: 0000-0001-9940-5929
2004 (English)In: Proceedings of the 5th IFAC symposium on intelligent autonomous vehicles, IFAC , 2004Conference paper, Published paper (Refereed)
Abstract [en]

A multi-vehicle search strategy based on the simplex algorithm is proposed. The strategy is decomposed into a hierarchical scheme with three layers. The upper layer is described by a discrete-event system. The output of this layer is a set of way-points for the vehicles and it is used by the middle layer in order to coordinate the motion of the vehicles. The lower layer drives each vehicle to a way-point. The paper compares two possible discrete coordination strategies: one minimizes the travelled distance of the vehicles and the other avoids their trajectories to cross. Minimization of vehicle intercommunication is also studied.

Place, publisher, year, edition, pages
IFAC , 2004.
Keyword [en]
Multi-Robot Systems, Simplex Algorithm, Discrete-Event Systems, Autonomous Underwater Vehicles (AUVs)
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-84263OAI: oai:DiVA.org:kth-84263DiVA: diva2:499273
Conference
Hierarchical search strategy for a team of autonomous vehicles, IAV, Lisbon, Portugal
Note
QC 20120221Available from: 2012-02-21 Created: 2012-02-13 Last updated: 2012-03-21Bibliographically approved

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multirobot_iav04(179 kB)333 downloads
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Johansson, Karl Henrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf