Consensus Control for a System of Underwater Swarm Robots

Consensus Control for a System of Underwater Swarm Robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number...

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Veröffentlicht in:IEEE systems journal 2010-03, Vol.4 (1), p.65-73
Hauptverfasser: Joordens, Matthew A, Jamshidi, Mo
Format: Artikel
Sprache:eng
Schlagworte:
Automatic control
Communication system control
Communication systems
Control engineering
Control systems
Decentralized control
Handles
Humans
Oceans
Robot control
Robot kinematics
Robotics and automation
Robots
Time delay
Underwater robots
Underwater vehicles
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Zusammenfassung:The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.
ISSN:1932-8184
1937-9234
DOI:10.1109/JSYST.2010.2040225