Cascade Safe Formation Control for a Fleet of Underactuated Surface Vessels Using the DCOP Approach

ALEJANDRO ROZENFELD; JAWHAR GOMMAM; RODRIGO PICOS; GERARDO G. ACOSTA

Contemporary Challenges and Solutions in Applied Artificial Intelligence

Springer International Publishing

Año: 2013; p. 183 - 188

This paper considers the formation control of multiple underactuated sur- face vessel. A distributed cooperative control using the relative information among neighboring vehicles is proposed such that the flock of multiple vehicles forms a desired geometric formation pattern whose center moves along a desired trajectory. In order to guarantee safe flock navigation and interaction of vehicles with the envi- ronment, we propose to extend the designed formation tracking controller to more sophisticated algorithm that prevent the vehicles from colliding with environmental obstacles with unknown sizes and locations based on a Decentralized Constrained Optimizing Problem ?DCOP? strategy.