Real-time hybrid control of multiple autonomous underwater vehicles

In this paper we discuss a hybrid systems framework for the real-time multi-agent coordination and control of multiple vehicles in the context of the Multiple Autonomous Underwater Vehicles for Coastal Oceanography project from Porto University. We address the use of hybrid systems techniques for analyzing and synthesizing the control architecture and describe how it can be implemented using the DIADEM system. DIADEM is an object-oriented framework for implementing real-time, event-driven, distributed multi-agent control systems.