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dc.contributor.authorRego, F.
dc.contributor.authorAguiar, A.P.
dc.contributor.authorPascoal, A.M.
dc.date.accessioned2014-09-19T09:55:24Z
dc.date.available2014-09-19T09:55:24Z
dc.date.issued2013
dc.identifier.citationProceeding of 9th IFAC Conference on Control Applications in Marine Systems (CAMS 2013), Osaka, Japan, September 17-20, 2013. ed. by: Kazuhiko, H., vol.9; 2013; 262-267
dc.identifier.urihttp://drs.nio.org/drs/handle/2264/4600
dc.description.abstractWe introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding a desired geometric formation pattern. To this effect, the paper extends an existing cooperative path following framework to consider the practical case where communications among the vehicles occur at discrete instants, instead of continuously. The introduced communication logic takes into account the topology of the communication network, the fact that communications are discrete, and the cost of exchanging information. We also address explicitly communication losses and bounded delays. Conditions are derived under which the overall closed loop system is input-to-state practically stable. The communication logic is applied to a cooperative path-following control system of multiple underactuated autonomous marine robots. Simulation results are presented and discussed
dc.language.isoen
dc.publisherInternational Federation of Automatic Control
dc.rightsCopyright [2013]. All efforts have been made to respect the copyright to the best of our knowledge. Inadvertent omissions, if brought to our notice, stand for correction and withdrawal of document from this repository.
dc.subjectremote control
dc.subjectcommunication systems
dc.subjectsimulation
dc.subjecttelemetry
dc.subjectautopilots
dc.subjectglobal positioning systems
dc.titleA packet loss compliant logic-based communication alogoritham for cooperative path following control
dc.typeConference Article


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