Collaborative Estimation of Gradient Direction by a Formation of AUVs

Lara Briñon Arranz 1 Alexandre Seuret 1 Carlos Canudas de Wit 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This work deals with the source-seeking problem in which the task is to locate the source of some signal using a fleet of AUVs (autonomous underwater vehicles). The present paper proposes a distributed solution in which a group of vehicles uniformly distributed in a ¯xed circular formation, estimates the gradient direction of the signal propagation. The distributed algorithm takes into account the communication constraints and depends on direct signal measurements. Our approach is based on the previous results in formation control to stabilize the °eet in a circular formation with time-varying center and in a collaborative source-seeking algorithm. The results are supported through computer simulations.
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Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Collaborative Estimation of Gradient Direction by a Formation of AUVs. 5th International ICST Conference on Performance Evaluation Methodologies and Tools (VALUETOOLS 2011), May 2011, Cachan, France. pp.8. ⟨hal-00610564⟩

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