Flocking Approach to Spatial Configuration Control in Underwater Swarms

Stefano Chiesa, Sergio Taraglio, Stefano Pagnottelli, Paolo Valigi

Abstract

A modification of the flocking algorithm approach for a swarm of underwater vehicles is introduced. The proposed approach relaxes the symmetry of the inter vehicle interaction. It is thus possible to change the swarm spatial configuration assuming different formations with varying parameters. The swarm geometry is changed with a very limited effort, exploiting the capability of the flocking approach to make emerge a large scale arrangement. Examples of proposed variations are provided. The vehicles are dynamically modelled and the relative non holonomic proportional derivative controller is described. Experimental data are gathered from many vehicle physical simulations and graphically presented.

References

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Paper Citation


in Harvard Style

Chiesa S., Taraglio S., Pagnottelli S. and Valigi P. (2012). Flocking Approach to Spatial Configuration Control in Underwater Swarms . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 313-316. DOI: 10.5220/0004036903130316


in Bibtex Style

@conference{icinco12,
author={Stefano Chiesa and Sergio Taraglio and Stefano Pagnottelli and Paolo Valigi},
title={Flocking Approach to Spatial Configuration Control in Underwater Swarms},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={313-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004036903130316},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Flocking Approach to Spatial Configuration Control in Underwater Swarms
SN - 978-989-8565-21-1
AU - Chiesa S.
AU - Taraglio S.
AU - Pagnottelli S.
AU - Valigi P.
PY - 2012
SP - 313
EP - 316
DO - 10.5220/0004036903130316