A passivity-based framework for coordinated distributed control of AUV teams: Guaranteeing stability in presence of range communication constraints

Abstract

This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to model the whole network of interacting robots, which is then handled within the energy-based, port… (More)

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