Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range

Lara Briñon Arranz; Alexandre Seuret; Carlos Canudas De Wit

hal-00403253, version 1

Translation Control of a Fleet Circular Formation of AUVs under Finite Communication Range

Lara Briñon Arranz () ¹, Alexandre Seuret () ^1, 2, Carlos Canudas De Wit () ^1, 2

48th IEEE Conference on Decision and Control, CDC 2009 (2009) 6

Abstract: 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 which includes the Laplacian matrix of the communication graph (fixed or distance-dependent). The system was implemented in computersimulation, accessible though Web1.

1: NeCS (INRIA Grenoble Rhône-Alpes / Gipsa-lab)
CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
2: Grenoble Images Parole Signal Automatique (GIPSA-lab)
CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology

hal-00403253, version 1
http://hal.archives-ouvertes.fr/hal-00403253
oai:hal.archives-ouvertes.fr:hal-00403253
From: Lara Briñon Arranz <>
Submitted on: Thursday, 9 July 2009 17:59:15
Updated on: Monday, 20 July 2009 16:49:48

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