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On coordinated control strategies for networked dynamic control systems - an application to AUVs

By João Borges de Sousa and Fernando Lobo Pereira


The specification and design of coordinated control strategies for networked vehiclesand systems is discussed. A strategy to find the local minimum of an oceanographicscalar field with networked autonomous underwater vehicles (AUV) is presented. Thestrategy consists in coordinating the motions of the AUVs to implement a modifiedversion of the simplex optimization algorithm. In the original algorithm, the scalarfield is given by a function. In the modified version, the scalar field is given by thephenomenon itself. The AUVs sample the phenomenon to calculate the directions ofdescent, and to minimize the phenomenon along each direction of descent. The strategyis discussed in the more general context of coordination and control of networkedvehicles and systems

Topics: Ciências Tecnológicas, Ciências da engenharia e tecnologias, Technological sciences, Engineering and technology, Ciências da engenharia e tecnologias, Engineering and technology
Year: 2002
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