DocumentCode
3200958
Title
Autonomous UUV control via tunably decentralized algorithms
Author
Sullivan, Keith M. ; Luke, Sean
Author_Institution
Systems Planning & Anal., Inc., Alexandria, VA, USA
fYear
2004
fDate
17-18 June 2004
Firstpage
47
Lastpage
53
Abstract
We apply previous studied control algorithms to the cooperative target observation (CTO) task for multiple UUVs. The algorithms are based on k-means clustering and hill climbing, and each are scalable in the degree of decentralization. In the underwater formulation of the CTO problem, k-means is not sensitive to the degree of decentralization, while the hill climber is sensitive. Unlike in previous work, K-means outperformed hill-climbing across all environmental parameters.
Keywords
decentralised control; mobile robots; multi-robot systems; pattern clustering; remotely operated vehicles; underwater vehicles; autonomous vehicle; cooperative target observation task; hill climbing; k-means clustering; multiple unmanned underwater vehicle; tunably decentralized algorithm; Algorithm design and analysis; Centralized control; Clustering algorithms; Distributed control; Mobile agents; Path planning; Remotely operated vehicles; Sampling methods; Testing; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Underwater Vehicles, 2004 IEEE/OES
Print_ISBN
0-7803-8543-8
Type
conf
DOI
10.1109/AUV.2004.1431192
Filename
1431192
Link To Document