Control of Open Contour Formations of Autonomous Underwater Vehicles
In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2005-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5776 |
| _version_ | 1818325631269601280 |
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| author | Shahab Kalantar Uwe Zimmer |
| author_facet | Shahab Kalantar Uwe Zimmer |
| author_sort | Shahab Kalantar |
| collection | DOAJ |
| description | In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end points) using general curve evolution theory but will also propose appropriate motions for the end robots of an open chain. |
| first_indexed | 2024-12-13T11:47:33Z |
| format | Article |
| id | doaj.art-a77ebd94177447cf999c575514e23ad0 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T11:47:33Z |
| publishDate | 2005-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a77ebd94177447cf999c575514e23ad02022-12-21T23:47:28ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142005-12-01210.5772/577610.5772_5776Control of Open Contour Formations of Autonomous Underwater VehiclesShahab KalantarUwe ZimmerIn this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end points) using general curve evolution theory but will also propose appropriate motions for the end robots of an open chain.https://doi.org/10.5772/5776 |
| spellingShingle | Shahab Kalantar Uwe Zimmer Control of Open Contour Formations of Autonomous Underwater Vehicles International Journal of Advanced Robotic Systems |
| title | Control of Open Contour Formations of Autonomous Underwater Vehicles |
| title_full | Control of Open Contour Formations of Autonomous Underwater Vehicles |
| title_fullStr | Control of Open Contour Formations of Autonomous Underwater Vehicles |
| title_full_unstemmed | Control of Open Contour Formations of Autonomous Underwater Vehicles |
| title_short | Control of Open Contour Formations of Autonomous Underwater Vehicles |
| title_sort | control of open contour formations of autonomous underwater vehicles |
| url | https://doi.org/10.5772/5776 |
| work_keys_str_mv | AT shahabkalantar controlofopencontourformationsofautonomousunderwatervehicles AT uwezimmer controlofopencontourformationsofautonomousunderwatervehicles |