A decentralized planning algorithm considering tack spatial configuration for a group of AUVs

Author

Tuphanov, I.E. ; Sakharov, Andrey M.

Author_Institution

Lab. of Unmanned Underwater Vehicles & their Syst., Far Eastern Fed. Univ., Vladivostok, Russia

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

5

Abstract

One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized approach. A modified auction scheme is compared to a pairwise exchange scheme, allowing both initial task distribution and plan modification.

Keywords

autonomous underwater vehicles; decentralised control; multi-robot systems; path planning; AUV group; decentralized planning algorithm; decentralized techniques; initial task distribution; mathematical model; mission planning; mission running time; modified auction scheme; pairwise exchange scheme; tack spatial configuration; Conferences; Joints; Planning; Robot kinematics; Underwater vehicles; Vehicles; AUV; decentralized control; group control; task allocation;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003073

Filename

7003073