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Translation control of a fleet circular formation of AUVs under finite communication range

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3 Author(s)
Lara Briñón Arranz ; INRIA Rhône-Alpes, NeCS Team, Grenoble, France ; Alexandre Seuret ; Carlos Canudas de Wit

This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control strategy which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computer simulation, accessible though Web.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009