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Author(s): João Tasso de Figueiredo Borges de Sousa
Jorge Manuel Estrela da Silva
K. Johansson
Alberto Speranzon
Title: A verified hierarchical control architecture for co-ordinated multi-vehicle operations
Issue Date: 2006
Abstract: A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurate models of autonomous underwater vehicles illustrate the overall approach in the co-ordinated search for the minimum of a scalar field. The co-ordinated search is based on the simplex optimization algorithm.
Subject: Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Control engineering, Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Document Type: Artigo em Revista Científica Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Revista Científica Internacional

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