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- Borges De Sousa, João, et al.
(författare)
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A control architecture for multiple submarines in coordinated search missions
- 2005
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Ingår i: Proceedings of the 16th IFAC World Congress. - : IFAC. - 008045108X - 9780080451084 ; , s. 109-114
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Konferensbidrag (refereegranskat)abstract
- A control architecture for executing multi-vehicle search algorithms is presented. The proposed hierarchical structure consists of three control layers: maneuver controllers, vehicle supervisors and team controllers. The system model is described as a dynamic network of hybrid automata in the programming language Shift and allows reasoning about specification and dynamical properties in a formal setting. The particular search problem that is studied is that of finding the minimum of a scalar field using a team of autonomous submarines. As an illustration, a coordination scheme based on the Nelder-Mead simplex optimization algorithm is presented and illustrated through simulations.
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