Hierarchical search strategy for a team of autonomous vehicles
2004 (English)In: Proceedings of the 5th IFAC symposium on intelligent autonomous vehicles, IFAC , 2004Conference paper (Refereed)
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.
Multi-Robot Systems, Simplex Algorithm, Discrete-Event Systems, Autonomous Underwater Vehicles (AUVs)
IdentifiersURN: urn:nbn:se:kth:diva-84263OAI: oai:DiVA.org:kth-84263DiVA: diva2:499273
Hierarchical search strategy for a team of autonomous vehicles, IAV, Lisbon, Portugal
QC 201202212012-02-212012-02-132012-03-21Bibliographically approved