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

• Tipo: Artigo em Revista Científica Internacional
• Data: 2006

Autores

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

Revista

Título: International Journal of Adaptive Control and Signal Processing

Nº 21

Páginas: 159-188

ISSN: 0890-6327

Editora: Wiley-Blackwell

Indexação

ISI Web of Knowledge - 8 Citações

ISI Web of Science

Scopus - 22 Citações

COMPENDEX

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de controlo

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica