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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 (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.

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Engineering and Technology
URN: urn:nbn:se:kth:diva-84695OAI: diva2:499526
International Workshop in Underwater Robotics, Genova, Italy
Short version.Available from: 2012-02-17 Created: 2012-02-13 Last updated: 2012-02-17Bibliographically approved

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Johansson, Karl Henrik
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