A verified hierarchical control architecture for co-ordinated multi-vehicle operations

• Type: Article in International Scientific Journal
• Date: 2006

Authors

João Tasso de Figueiredo Borges de Sousa (Author) FEUP; Jorge Manuel Estrela da Silva (Author) FEUP; K. Johansson (Author) Other; Alberto Speranzon (Author) Other

Journal

Title: International Journal of Adaptive Control and Signal Processing

No. 21

Pages: 159-188

ISSN: 0890-6327

Publisher: Wiley-Blackwell

Indexing

ISI Web of Knowledge - 8 Citations

ISI Web of Science

Scopus - 22 Citations

COMPENDEX

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering

Other information

Authenticus ID: P-004-BFR

DOI: 10.1002/acs.920

Abstract (EN): A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurate models of autonomous underwater vehicles illustrate the overall approach in the co-ordinated search for the minimum of a scalar field. The co-ordinated search is based on the simplex optimization algorithm.

Language: English

Type (Professor's evaluation): Scientific