Abstract
| Language | English |
|---|---|
| Pages | 1169-1179 |
| Number of pages | 11 |
| Journal | International Journal of Control |
| Volume | 80 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2007 |
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Keywords
- mission planning
- uninhabited underwater vehicles
- reconnaissance
- mine sweeping
Cite this
}
Autonomous and decentralized mission planning for clusters of UUVs. / Giovanini, L.; Balderud, J.; Katebi, M.R.
In: International Journal of Control, Vol. 80, No. 7, 2007, p. 1169-1179.Research output: Contribution to journal › Article
TY - JOUR
T1 - Autonomous and decentralized mission planning for clusters of UUVs
AU - Giovanini, L.
AU - Balderud, J.
AU - Katebi, M.R.
PY - 2007
Y1 - 2007
N2 - This paper proposes an algorithm for autonomous strategic mission planning of missions where multiple unhabitated underwater vehicles (UUVs) cooperate in order to solve one or more mission tasks. Missions of this type include multi-agent reconnaissance missions and multi-agent mine sweeping missions. The mission planning problem is posed as a receding horizon mixed–integer constrained quadratic optimal control problem. This problem is subsequently partitioned into smaller subproblems and solved in a parallel and decentralized manner using a distributed Nash-based game approach. The paper presents the development of the proposed algorithm and discusses its properties. An application example is used to further demonstrate the main characteristics of the proposed method.
AB - This paper proposes an algorithm for autonomous strategic mission planning of missions where multiple unhabitated underwater vehicles (UUVs) cooperate in order to solve one or more mission tasks. Missions of this type include multi-agent reconnaissance missions and multi-agent mine sweeping missions. The mission planning problem is posed as a receding horizon mixed–integer constrained quadratic optimal control problem. This problem is subsequently partitioned into smaller subproblems and solved in a parallel and decentralized manner using a distributed Nash-based game approach. The paper presents the development of the proposed algorithm and discusses its properties. An application example is used to further demonstrate the main characteristics of the proposed method.
KW - mission planning
KW - uninhabited underwater vehicles
KW - reconnaissance
KW - mine sweeping
U2 - 10.1080/00207170701253363
DO - 10.1080/00207170701253363
M3 - Article
VL - 80
SP - 1169
EP - 1179
JO - International Journal of Control
T2 - International Journal of Control
JF - International Journal of Control
SN - 0020-7179
IS - 7
ER -