Real-time hybrid control of multiple autonomous underwater vehicles

Author

De Sousa, João Borges ; Pereira, Fernando Lobo

Author_Institution

Fac. de Engenharia, Porto Univ., Portugal

Volume

3

fYear

1998

fDate

1998

Firstpage

2645

Abstract

In this paper we discuss a hybrid systems framework for the real-time multi-agent coordination and control of multiple vehicles in the context of the Multiple Autonomous Underwater Vehicles for Coastal Oceanography project from Porto University. We address the use of hybrid systems techniques for analyzing and synthesizing the control architecture and describe how it can be implemented using the DIADEM system. DIADEM is an object-oriented framework for implementing real-time, event-driven, distributed multi-agent control systems

Keywords

control system CAD; control system analysis computing; mobile robots; multi-robot systems; object-oriented methods; oceanographic equipment; real-time systems; underwater vehicles; CACSD; DIADEM system; coastal oceanography; control architecture analysis; control architecture synthesis; control system CAD; control system analysis computing; multiple autonomous underwater vehicles; object-oriented framework; real-time event-driven distributed multi-agent control systems; real-time hybrid control; real-time multi-agent coordination; Control system synthesis; Control systems; Distributed control; Marine vehicles; Motion control; Object oriented modeling; Physical layer; Real time systems; Sea measurements; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.757852

Filename

757852