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Control of Open Contour Formations of Autonomous Underwater Vehicles

Kalantar, Shahab; Zimmer, Uwe

Description

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]

dc.contributor.authorKalantar, Shahab
dc.contributor.authorZimmer, Uwe
dc.date.accessioned2015-12-13T22:36:18Z
dc.date.available2015-12-13T22:36:18Z
dc.identifier.issn1729-8806
dc.identifier.urihttp://hdl.handle.net/1885/76698
dc.description.abstractIn 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 points) using general curve evolution theory but will also propose appropriate motions for the end robots of an open chain.
dc.publisherInternational Journal of Advanced Robotic Systems
dc.sourceInternational Journal of Advanced Robotic systems
dc.source.urihttp://www.ars-journal.com/ars/SubscriberArea/Volume2/309-316.pdf
dc.subjectKeywords: Formations; Swarm control; Underwater robotics; Automation; Deformation; Environmental impact; Remotely operated vehicles; Robotics; Underwater equipment Formations; Swarm control; Underwater robotics
dc.titleControl of Open Contour Formations of Autonomous Underwater Vehicles
dc.typeJournal article
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.citationvolume2
dc.date.issued2005
local.identifier.absfor080101 - Adaptive Agents and Intelligent Robotics
local.identifier.absfor091101 - Marine Engineering
local.identifier.ariespublicationMigratedxPub5500
local.type.statusPublished Version
local.contributor.affiliationKalantar, Shahab, College of Engineering and Computer Science, ANU
local.contributor.affiliationZimmer, Uwe, College of Engineering and Computer Science, ANU
local.bibliographicCitation.issue4
local.bibliographicCitation.startpage309
local.bibliographicCitation.lastpage316
dc.date.updated2015-12-11T09:31:10Z
local.identifier.scopusID2-s2.0-31144459060
CollectionsANU Research Publications

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