Platoons of Underwater Vehicles: Communication, Feedback, and Decentralized Control

IEEE Control Systems

Volumn 20, Issue 6, 2000, Pages 45-52

  Stilwell, Daniel J ^a   Bishop, Bradley E ^a  

^a UNITED STATES NAVAL ACADEMY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLABILITY; DECENTRALIZED CONTROL; FEEDBACK CONTROL; INTELLIGENT ROBOTS; LINEAR CONTROL SYSTEMS; MATHEMATICAL MODELS; MOBILE ROBOTS; OBSERVABILITY; POSITION CONTROL; ROBOT PROGRAMMING; SUBMERSIBLES; SYSTEM STABILITY;

AUTONOMOUS UNDERWATER VEHICLES; COOPERATING MOBILE ROBOTS; UNDERWATER COMMUNICATION;

CONTROL SYSTEM SYNTHESIS;

EID: 0034516077     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.887448     Document Type: Article

References (12)

1. R. Arkin, Behavior-Based Robotics. Cambridge, MA: MIT Press, 1998.
2. R. Brooks, “A robust layered control scheme for a mobile robot,” IEEE J. Robot. Automat., vol. 2, no. 1, pp. 14-23, 1986.
3. H. Yamaguchi, “A cooperative hunting behavior by mobile robot troops,” Int. J. Robot. Res., vol. 18, no. 9, pp. 931-940, 1999.
4. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Cassal, “Coordination and decentralized cooperation of multiple mobile manipulators,” J. Robot. Syst., vol. 13, no. 11, pp. 755-764, 1996.
5. T. Balch and R. Arkin, “Communication in reactive multiagent robotic systems,” Autonomous Robots, vol. 1, no. 1, pp. 27-52, 1994.
6. S. Wang and E. Davison, “On the stabilization of decentralized control systems,” IEEE Trans. Automat. Contr., vol. AC-18, pp. 473-478, May 1973.
7. X. Yun, “Line and circle formation of distributed physical mobile robots,” J. Robot. Syst., vol. 14, no. 2, pp. 63-81, 1997.
8. B. Anderson and D. Clements, “Algebraic characterization of fixed modes in decentralized control,” Automatica, vol. 17, no. 5, pp. 703-712, 1981.
9. J. Corfmat and A. Morse, “Decentralized control of linear mulitvariate systems,” Automatica, vol. 12, pp. 476-495, 1976.
10. A. Linnemann, “Decentralized control of dynamically interconnected systems,” IEEE Trans. Automat. Contr., vol. AC-29, pp. 1052-1054, Nov. 1984.
11. D. Stilwell and B. Bishop, “Communication, feedback, and decentralized control for platoons of underwater vehicles,” USNA Division of Engineering and Weapons, Ft. Belvoir, VA, Tech. Rep. EW-05-00, Aug. 2000.
12. K. Tan and M. Grigoriadis, “Robust decentralized control using an alternating projection approach,” in Proc. Amer. Control Conf., Chicago, IL, June 2000, pp. 801-805.