A verified hierarchical control architecture for co-ordinated multi-vehicle operations

Detalhes bibliográficos
Autor(a) principal: João Tasso de Figueiredo Borges de Sousa
Data de Publicação: 2006
Outros Autores: Jorge Manuel Estrela da Silva, K. Johansson, Alberto Speranzon
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/390
Resumo: A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurate models of autonomous underwater vehicles illustrate the overall approach in the co-ordinated search for the minimum of a scalar field. The co-ordinated search is based on the simplex optimization algorithm.
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spelling A verified hierarchical control architecture for co-ordinated multi-vehicle operationsEngenharia de controlo, Engenharia electrotécnica, electrónica e informáticaControl engineering, Electrical engineering, Electronic engineering, Information engineeringA layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurate models of autonomous underwater vehicles illustrate the overall approach in the co-ordinated search for the minimum of a scalar field. The co-ordinated search is based on the simplex optimization algorithm.20062006-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/10216/390eng0890-632710.1002/acs.920João Tasso de Figueiredo Borges de SousaJorge Manuel Estrela da SilvaK. JohanssonAlberto Speranzoninfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T15:28:25Zoai:repositorio-aberto.up.pt:10216/390Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:24:27.418506Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv A verified hierarchical control architecture for co-ordinated multi-vehicle operations
title A verified hierarchical control architecture for co-ordinated multi-vehicle operations
spellingShingle A verified hierarchical control architecture for co-ordinated multi-vehicle operations
João Tasso de Figueiredo Borges de Sousa
Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Control engineering, Electrical engineering, Electronic engineering, Information engineering
title_short A verified hierarchical control architecture for co-ordinated multi-vehicle operations
title_full A verified hierarchical control architecture for co-ordinated multi-vehicle operations
title_fullStr A verified hierarchical control architecture for co-ordinated multi-vehicle operations
title_full_unstemmed A verified hierarchical control architecture for co-ordinated multi-vehicle operations
title_sort A verified hierarchical control architecture for co-ordinated multi-vehicle operations
author João Tasso de Figueiredo Borges de Sousa
author_facet João Tasso de Figueiredo Borges de Sousa
Jorge Manuel Estrela da Silva
K. Johansson
Alberto Speranzon
author_role author
author2 Jorge Manuel Estrela da Silva
K. Johansson
Alberto Speranzon
author2_role author
author
author
dc.contributor.author.fl_str_mv João Tasso de Figueiredo Borges de Sousa
Jorge Manuel Estrela da Silva
K. Johansson
Alberto Speranzon
dc.subject.por.fl_str_mv Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Control engineering, Electrical engineering, Electronic engineering, Information engineering
topic Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Control engineering, Electrical engineering, Electronic engineering, Information engineering
description A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurate models of autonomous underwater vehicles illustrate the overall approach in the co-ordinated search for the minimum of a scalar field. The co-ordinated search is based on the simplex optimization algorithm.
publishDate 2006
dc.date.none.fl_str_mv 2006
2006-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10216/390
url https://hdl.handle.net/10216/390
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0890-6327
10.1002/acs.920
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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