A hybrid systems theory framework for the design of a control architecture for multiple autonomous underwater vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 1997

Autores

de Sousa, JB (Autor) FEUP; Pereira, FL (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of the IEEE International Symposium on Industrial Electronics

Páginas: 747-752

ISIE'97 - International Symposium on Industrial Electronics

Guimarães, Portugal, 07 - JULHO - 1997

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Classificação Científica

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

Outras Informações

ID Authenticus: P-001-CKZ

Abstract (EN): This paper describes the modeling, design and implementation of the Generalized Vehicle [GV] architecture for the coordinated control of multiple autonomous under-water vehicles in the framework of the Hybrid Systems theory. A Generalized Vehicle is a group of vehicles whose spatial and logic organization is controlled in such a way that the group behaves as a single entity. The hybrid systems formalism provides the most adequate framework for incorporating the discrete event and continuous dynamics that arise in the concurrent coordinated operation of multiple vehicles and fully encompasses the modeling, analysis, design and implementation cycle of the GV architecture. A micro-simulation environment of the coordinated operation of multiple AUVs was developed in SHIFT, a new specification language for describing networks of hybrid automata. The DIADEM software environment for implementing oil-line, real-time automated management and control systems, is discussed in the context of the implementation of the GV concept.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6