TY - GEN
T1 - Cooperative formation control of underactuated marine vehicles for target surveillance under sensing and communication constraints
AU - Panagou, Dimitra
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - This paper presents a Leader-Follower formation control strategy for underactuated marine vehicles which move under sensing and communication constraints in the presence of bounded persistent environmental disturbances. We assume that the vehicles do not communicate for exchanging information regarding on their states (pose and velocities), and that their sensing capabilities are restricted, due to limited range and angle-of-view. Sensing constraints are thus realized as a set of inequality state constraints which should never be violated (viability constraints). The viability constraints define a closed subset K of the configuration space (viability set K). The control objective is thus reduced into to coordinating the motion of the vehicles in a Leader-Follower formation, while system trajectories starting in K always remain viable in K. The proposed control design employs dipolar vector fields and a viability-based switching control scheme, which guarantees that system viability is always maintained. The efficacy of the proposed algorithm, as well as its relevance with surveillance of (stationary) targets are demonstrated through simulations.
AB - This paper presents a Leader-Follower formation control strategy for underactuated marine vehicles which move under sensing and communication constraints in the presence of bounded persistent environmental disturbances. We assume that the vehicles do not communicate for exchanging information regarding on their states (pose and velocities), and that their sensing capabilities are restricted, due to limited range and angle-of-view. Sensing constraints are thus realized as a set of inequality state constraints which should never be violated (viability constraints). The viability constraints define a closed subset K of the configuration space (viability set K). The control objective is thus reduced into to coordinating the motion of the vehicles in a Leader-Follower formation, while system trajectories starting in K always remain viable in K. The proposed control design employs dipolar vector fields and a viability-based switching control scheme, which guarantees that system viability is always maintained. The efficacy of the proposed algorithm, as well as its relevance with surveillance of (stationary) targets are demonstrated through simulations.
UR - http://www.scopus.com/inward/record.url?scp=84887314392&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2013.6630824
DO - 10.1109/ICRA.2013.6630824
M3 - Conference contribution
AN - SCOPUS:84887314392
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1871
EP - 1876
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -