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Collaborative estimation of gradient direction by a formation of AUVs under communication constraints (2011)
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| Venue: | In Proc. of the 50th IEEE Conference on Decision and Control |
| Citations: | 7 - 2 self |
BibTeX
@INPROCEEDINGS{Briñón-arranz11collaborativeestimation,
author = {Lara Briñón-arranz and Re Seuret and Carlos Canudas-de-wit},
title = {Collaborative estimation of gradient direction by a formation of AUVs under communication constraints},
booktitle = {In Proc. of the 50th IEEE Conference on Decision and Control},
year = {2011}
}
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Abstract
Abstract — This work deals with the source-seeking problem in which the task is to locate the source of some signal using a fleet of Autonomous Underwater Vehicles (AUVs). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a fixed circular formation, estimates the gradient direction of the signal propagation. The distributed algorithm takes into account the communication constraints and depends on direct signal measurements. Our approach is based on the previous results in formation control to stabilize the fleet in a circular formation with time-varying center and in a collaborative source-seeking algorithm. The results are supported through computer simulations. I.
Keyphrases
communication constraint gradient direction collaborative estimation distributed algorithm source-seeking problem autonomous underwater vehicle circular formation collaborative source-seeking algorithm present paper fixed circular formation computer simulation distributed solution time-varying center direct signal measurement formation control signal propagation previous result
