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A control architecture for multiple submarines in coordinated search missions
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2005 (English)Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2005.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-84695OAI: oai:DiVA.org:kth-84695DiVA: diva2:499526
Conference
International Workshop in Underwater Robotics, Genova, Italy
Note
Short version.Available from: 2012-02-17 Created: 2012-02-13 Last updated: 2012-02-17Bibliographically approved

Open Access in DiVA

multirobot_iwur05(256 kB)74 downloads
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41c3c5d506eb82ad82482b51df62255c8a2411203b91e9ea91e88dece2ff4b2d52344fa23750a779efcf1a0934f159ce305842ccf91a399dc32ad5a6669a2fd6
Type fulltextMimetype application/pdf

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Johansson, Karl Henrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • vancouver
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More styles
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • text
  • asciidoc
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