CENTRO DE INVESTIGACIONES EN FISICA E INGENIERIA DEL CENTRO DE LA PROVINCIA DE BUENOS AIRES
Unidad Ejecutora - UE
capítulos de libros
Cascade safe formation control for a fleet of underactuated surface vessels using the DCOP approach
A. F. ROZENFELD; J. GHOMMAM; R. PICOS; G. G. ACOSTA
Contemporary Challenges and Solutions in Applied Artificial Intelligence
Año: 2013; p. 183 - 188
This paper considers the formation control of multiple underactuated surface 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 environment, 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.