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Cascade Safe Formation Control for a Fleet of Underactuated Surface Vessels Using the DCOP Approach

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Contemporary Challenges and Solutions in Applied Artificial Intelligence

Part of the book series: Studies in Computational Intelligence ((SCI,volume 489))

Abstract

This paper considers the formation control of multiple underactuated surface vessel. A distributed cooperative control using the relative information among neighboring vehicles is proposed such that the flock of multiple vehicles forms a desired geometric formation pattern whose center moves along a desired trajectory. In order to guarantee safe flock navigation and interaction of vehicles with the environment, we propose to extend the designed formation tracking controller to more sophisticated algorithm that prevent the vehicles from colliding with environmental obstacles with unknown sizes and locations based on a Decentralized Constrained Optimizing Problem “DCOP” strategy.

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Author information

Authors and Affiliations

  1. INTELYMEC Group, CIFICEN-CONICET & Faculty of Engineering, National University of Buenos Aires Province Center, Buenos Aires, Argentina

    Alejandro Rozenfeld & Gerardo Acosta

  2. Research Unit on Mechatronics and Autonomous Systems, The National School of Engineering of Sfax, BP W, 3038, Sfax, Tunisia

    Jawhar Ghommam

  3. Universitat de les Illes Balears, Palma de Mallorca, Spain

    Rodrigo Picos

Authors
  1. Alejandro Rozenfeld
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  2. Jawhar Ghommam
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  3. Rodrigo Picos
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  4. Gerardo Acosta
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Corresponding author

Correspondence to Alejandro Rozenfeld .

Editor information

Editors and Affiliations

  1. , Department of Computer Science, Texas State University, San Marcos, 78666, Texas, USA

    Moonis Ali

  2. , Department of Computer Science, VU University Amsterdam, De Boelelaan, Amsterdam, 1081, Netherlands

    Tibor Bosse

  3. Department of Intelligent Systems, Faculty of Electrical Engineering, Delft University of Technology, Mekelweg 4, Delft, 2628, Netherlands

    Koen V. Hindriks

  4. , Department of Computer Science, VU University Amsterdam, De Boelelaan 1081, Amsterdam, 1081, Netherlands

    Mark Hoogendoorn

  5. Department of Intelligent Systems, Faculty of Electrical Engineering,, Delft University of Technology, Mekelweg 4, Delft, 2628, Netherlands

    Catholijn M. Jonker

  6. , Department of Computer Science, VU University Amsterdam, De Boelelaan, Amsterdam, 1081, Netherlands

    Jan Treur

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© 2013 Springer International Publishing Switzerland

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Rozenfeld, A., Ghommam, J., Picos, R., Acosta, G. (2013). Cascade Safe Formation Control for a Fleet of Underactuated Surface Vessels Using the DCOP Approach. In: Ali, M., Bosse, T., Hindriks, K., Hoogendoorn, M., Jonker, C., Treur, J. (eds) Contemporary Challenges and Solutions in Applied Artificial Intelligence. Studies in Computational Intelligence, vol 489. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00651-2_25

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  • DOI: https://doi.org/10.1007/978-3-319-00651-2_25

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00650-5

  • Online ISBN: 978-3-319-00651-2

  • eBook Packages: EngineeringEngineering (R0)

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