Collaborative Estimation of Gradient Direction by a Formation of AUVs under Communication Constraints

Abstract : This work deals with the source-seeking problem in which the task is to locate the source of some signal using a fleet of Autonomous Underwater Vehicles (AUVs). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a fixed circular formation, estimates the gradient direction of the signal propagation. The distributed algorithm takes into account the communication constraints and depends on direct signal measurements. Our approach is based on the previous results in formation control to stabilize the fleet in a circular formation with time-varying center and in a collaborative source-seeking algorithm. The results are supported through computer simulations.
Type de document :
Communication dans un congrès
50th IEEE Conference on Decision and Control and European Control Conference (IEEE CDC-ECC 2011), Dec 2011, Orlando, Floride, United States. pp.6, 2011
Liste complète des métadonnées

Littérature citée [20 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-00619482
Contributeur : Lara Briñon Arranz <>
Soumis le : mardi 6 septembre 2011 - 17:26:08
Dernière modification le : mercredi 7 octobre 2015 - 01:14:16
Document(s) archivé(s) le : dimanche 4 décembre 2016 - 20:12:09

Fichier

VF_Collaborative_Estimation_of...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00619482, version 2

Collections

Citation

Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Collaborative Estimation of Gradient Direction by a Formation of AUVs under Communication Constraints. 50th IEEE Conference on Decision and Control and European Control Conference (IEEE CDC-ECC 2011), Dec 2011, Orlando, Floride, United States. pp.6, 2011. 〈hal-00619482v2〉

Partager

Métriques

Consultations de
la notice

650

Téléchargements du document

201