Multivehicle systems control over networks: a hovercraft testbed for networked and decentralized control

Author

Stubbs, Andrew ; Vladimerou, Vladimeros ; Fulford, Adam Thomas ; King, Derek ; Strick, Jeffrey ; Dullerud, Geir E.

Author_Institution

Kiva Syst., Woburn, MA, USA

Volume

26

Issue

3

fYear

2006

fDate

6/1/2006 12:00:00 AM

Firstpage

56

Lastpage

69

Abstract

This paper presents an overview of the hovercraft testbed for decentralized control (HoTDeC) testbed at the University of Illinois. It describes the architecture of the system and its subsystems and provides details about modeling tine system and the control dynamics of the hovercraft vehicles. The project focuses on implementing distributed strategies for coordinated maneuvers and investigating approaches for dealing systematically with network latency as well as the application of higher level control algorithms.

Keywords

decentralised control; distributed control; hovercraft; test equipment; control dynamics; coordinated maneuvers; decentralized control; distributed strategies; higher level control algorithms; hovercraft testbed; hovercraft vehicles; multivehicle systems control; network latency; Cameras; Control systems; Distributed control; Hardware; IP networks; Internet; Linux; Mobile robots; Remotely operated vehicles; System testing;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/MCS.2006.1636310

Filename

1636310