Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range

Abstract : This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computersimulation, accessible though Web1.
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Submitted on : Thursday, July 9, 2009 - 5:59:15 PM
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Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range. 48th IEEE Conference on Decision and Control, CDC 2009, Dec 2009, Shanghai, China. pp.6. ⟨hal-00403253⟩

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