Coordination and control of multi-agent dynamic systems: models and approaches
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Applications of marine robotic vehicles
Intelligent Service Robotics
On the information flow required for tracking control in networks of mobile sensing agents
ALGOSENSORS'06 Proceedings of the Second international conference on Algorithmic Aspects of Wireless Sensor Networks
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An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.