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A control architecture for multiple submarines in coordinated search missions
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
KTH, School of Electrical Engineering (EES), Automatic Control.
2005 (English)In: Proceedings of the 16th IFAC World Congress, IFAC , 2005, 109-114 p.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
IFAC , 2005. 109-114 p.
Series
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Keyword [en]
Hierarchical control, autonomous vehicles, hybrid systems, search methods
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-84787Scopus ID: 2-s2.0-79960710228ISBN: 008045108X (print)ISBN: 9780080451084 (print)OAI: oai:DiVA.org:kth-84787DiVA: diva2:499618
Conference
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005; Prague; Czech Republic; 3 July 2005 through 8 July 2005
Note

QC 20120217

Available from: 2012-02-17 Created: 2012-02-13 Last updated: 2014-11-26Bibliographically approved

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Johansson, Karl Henrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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