This paper presents a distributed control technique based on the Particle Swarm Optimization algorithm and able to drive in unknown environments a group of autonomous robots to a common target point. In this paper, we consider in particular the case of underwater vehicles. The algorithm is able to deal with complex scenarios, frequently found in benthic exploration as e.g. in presence of obstacles, caves and tunnels, and to consider the case of a mobile target. Moreover, asynchronous data exchange and dynamic communication topologies are considered. Simulations results are provided to show the features of the proposed approach.

Grandi, R., Melchiorri, C. (2014). A Distributed Multi-level PSO Control Algorithm for Autonomous Underwater Vehicles. Heidelberg : Springer [10.1007/978-3-319-06944-9_6].

A Distributed Multi-level PSO Control Algorithm for Autonomous Underwater Vehicles

GRANDI, RAFFAELE;MELCHIORRI, CLAUDIO
2014

Abstract

This paper presents a distributed control technique based on the Particle Swarm Optimization algorithm and able to drive in unknown environments a group of autonomous robots to a common target point. In this paper, we consider in particular the case of underwater vehicles. The algorithm is able to deal with complex scenarios, frequently found in benthic exploration as e.g. in presence of obstacles, caves and tunnels, and to consider the case of a mobile target. Moreover, asynchronous data exchange and dynamic communication topologies are considered. Simulations results are provided to show the features of the proposed approach.
2014
Bio-Inspired Models of Network, Information, and Computing Systems
75
90
Grandi, R., Melchiorri, C. (2014). A Distributed Multi-level PSO Control Algorithm for Autonomous Underwater Vehicles. Heidelberg : Springer [10.1007/978-3-319-06944-9_6].
Grandi, R.; Melchiorri, C.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/522744
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