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Control of Open Contour Formations of Autonomous Underwater Vehicles

Kalantar, Shahab; Zimmer, Uwe


In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end...[Show more]

CollectionsANU Research Publications
Date published: 2005
Type: Journal article
Source: International Journal of Advanced Robotic systems


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