Cooperative motion planning for multiple autonomous marine vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

Hausler, AJ (Author) Other; Saccon, A (Author) Other; Aguiar, AP (Author) FEUP; Hauser, J (Author) Other; Pascoal, AM (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 244-249

9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

Arenzano, 19 September 2012 through 21 September 2012

Indexing

ISI Web of Knowledge

Scopus - 11 Citations

Other information

Authenticus ID: P-009-GXM

DOI: 10.3182/20120919-3-it-2046.00042

Abstract (EN): There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle and environmental conditions and lend themselves to seamless integration with control and navigation systems. The paper describes advances towards the development of a new breed of motion planning systems that address explicitly inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, and acoustic communication constraints. The theoretical framework adopted is rooted in the so-called Projection Operator Approach that borrows from optimization and dynamical systems theory. Simulations with full dynamic vehicle models illustrate the potential of the methods developed. © IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6