Kalantar, Shahab; Zimmer, Uwe
In this paper, we introduce the concept of a contour- shaped formation of autonomous underwater vehicles for the purpose of adaptation to isoclines of environmental fields created as a result of diffusion of chemicals. General curvature-driven curve evolution theory is used as a continuum model for such formations. A collection of robots can act as markers on an imaginary curve moving according to the local curvature and the external environmental force projected unto the normal to the curve....[Show more]
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