Proceedings ArticleDOI
Dynamic Formations of Autonomous Underwater Vehicles using State Estimation
TLDR
The capability of this algorithm in complex formations is investigated and takes into account the dynamics of leader and follower robots and dynamic formation changes en route are analyzed.Abstract:
Teams of Autonomous Underwater Vehicles(AUVs) can extend the range and/or reliability of any underwater mission and are finding newer applications everyday. In this paper, we propose and analyze the performance of a leader-follower formation control algorithm based on state estimation. The controller estimates the next desired position of each follower robot from the previous and current positions of the leader and follower robots and drives each follower robot into the desired trajectory. This paper investigates the capability of this algorithm in complex formations and takes into account the dynamics of leader and follower robots. Dynamic formation changes en route is also analyzed. A brief description of the experimental setup for the real time testing of the system is provided.read more
Citations
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Proceedings ArticleDOI
Observability analysis of acoustic positioning for multi-agent underwater vehicles
TL;DR: In this paper , an observability analysis of multi-agent underwater vehicles that use underwater acoustic positioning is presented, and the analysis revealed the observability of different input and output conditions of two kinematic systems: state estimates with and without a heading.
Observability analysis of acoustic positioning for multi-agent underwater vehicles
TL;DR: In this paper , an observability analysis of multi-agent underwater vehicles that use underwater acoustic positioning is presented, and the analysis revealed the observability of different input and output conditions of two kinematic systems: state estimates with and without a heading.
References
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Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Proceedings ArticleDOI
Controlling formations of multiple mobile robots
TL;DR: Methods of feedback linearization are used to exponentially stabilize the relative distance and orientation of the follower, and it is shown that the zero dynamics of the system are also (asymptotically) stable.
Journal ArticleDOI
Design and Control of Autonomous Underwater Robots: A Survey
TL;DR: This paper surveys some key areas in current state-of-the-art underwater robotic technologies, by no means a complete survey but provides key references for future development.
Journal ArticleDOI
Leader-follower formation control of underactuated autonomous underwater vehicles
TL;DR: In this article, a leader-follower formation control of multiple underactuated autonomous underwater vehicles (AUVs) is proposed, where the follower tracks a reference trajectory based on the leader position and predetermined formation without the need for leader's velocity and dynamics.
Book
Autonomous Robots: Modeling, Path Planning, and Control
TL;DR: In this article, the authors cover the kinematics and dynamic modeling/analysis of autonomous robots as well as methods suitable for their control, such as PID, feedback linearization, and sliding modes.
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