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Motion Planning for Small Formations of Autonomous Vehicles Navigating on Gradient Fields

Kalantar, Shahab; Zimmer, Uwe


In this paper, we present a motion planning scheme for navigation of a contour-like formation of autonomous underwater vehicles on gradient fields and subsequent convergence to desired isoclines, inspired by evolution of closed planar curves. The basic evolution behaviour is modified to include moving boundary points and incorporate safety constraints on formation parameters. Also, the whole process is decomposed into a sequence of well-behaving states. As opposed to the basic model, the...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of the 2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies
DOI: 10.1109/UT.2007.370775


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