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A Measure of Quality of Control for 2D AUV Formations


Barišić, Matko; Mišković, Nikola; Vukić, Zoran
A Measure of Quality of Control for 2D AUV Formations // Proceedings of 9th IFAC Conference on Manoeuvring and Control of Marine Craft / Bruzzone, Gabriele ; Caccia Massimo (ur.).
Genova, Italija: International Federation of Automatic Control, 2012. str. 299-306 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
A Measure of Quality of Control for 2D AUV Formations

Autori
Barišić, Matko ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 9th IFAC Conference on Manoeuvring and Control of Marine Craft / Bruzzone, Gabriele ; Caccia Massimo - Genova, Italija : International Federation of Automatic Control, 2012, 299-306

ISBN
978-3-902823-60-1

Skup
9th IFAC Conference on Manoeuvring and Control of Marine Craft

Mjesto i datum
Arenzano, Italija, 19-21.09.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous underwater vehicles; formation control; virtual potentials; optimization; criterion-based control

Sažetak
This paper presents a criterion for quality of formation control of AUV formations in 2D. Examined formations are large-scale homogeneous and isotropic, and founded on the premise of anonymous, idempotent constituent agents. In such a framework, it is not required of the formation control algorithm to uniquely identifying the agents, either in terms of their capabilities or in terms of their roles in the formation. Therefore, no agents stand out from any other agents. Rather, simple, geometrical rules govern the attraction of agents towards specific relative positions while cruising, producing formations that represents parts of regular or tilings of the plane. The explicit, closed-form solution for the optimum reference angle of the formation cell is found. The criterion signal is demonstrated to follow an intuitive notion of the quality of formation in a simulated experiment.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0362975-2999 - RoboMarSec - Podvodna robotika u zaštiti podmorja i pomorskoj sigurnosti (Zoran Vukić, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb