Coordinated control for multi-AUV systems based on hybrid automata

Abstract

This paper presents a coordinated control strategy based on hierarchical control architecture for a team of Autonomous Underwater Vehicles (AUVs). The dedicated control structure is described by a four layered design for coordinated control, constituted with a global organizer and a local organizer modeled by a discrete-event system as two upper layers, an… (More)
DOI: 10.1109/ROBIO.2007.4522497

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