Distributed shape control of homogeneous swarms of autonomous underwater vehicles
In this paper, we study large formations of underwater autonomous vehicles for the purposes of exploration and sampling the ocean surface. The formations or aggregates we consider are composed of up to hundreds of robots with the capability of forming various complex shapes dictated by the shape of the region to be explored, as well as special shapes suitable for migration. The shapes are determined through bathymetric maps and described with reduced-dimensional representation techniques. The...[Show more]
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