Coordinated Path-following Control of Multiple Auvs in the Presence of Communication Failures and Time Delays

@inproceedings{Ghabcheloo2006CoordinatedPC,
  title={Coordinated Path-following Control of Multiple Auvs in the Presence of Communication Failures and Time Delays},
  author={Reza Ghabcheloo and Antonio Pedro Aguiar and Ant{\'o}nio Pascoal and Carlos Silvestre},
  year={2006}
}
This paper addresses the problem of steering a group of underactuated Autonomous Underwater Vehicles (AUVs) along given spatial paths, while holding a desired inter-vehicle formation pattern. We show how Lyapunov-based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Path-following… CONTINUE READING
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