A verified hierarchical control architecture for co-ordinated multi-vehicle operations
Autor(a) principal: | |
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Data de Publicação: | 2006 |
Outros Autores: | , , |
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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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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1799136159215910912 |