A control architecture for multiple submarines in coordinated search missions

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Hierarchical control

autonomous vehicles

hybrid systems

search methods

Publikations- och innehållstyp

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