A proportional distribution of AUVs under decentralized control

The discrete-event model of a group of autonomous underwater vehicles (AUVs), operating under control of distributed supervisor (coordinators) in some large water area, is considered. The Lyapunov functions technique, developed for discrete-event systems, is exploited to establish the accessibility of the set describing a proportional distribution of the AUVs. Such distribution takes into consideration priorities of the areas on which the surveyed water area is divided. The ring topology with shortcuts, describing the placement of coordinators in the areas, is considered.