Authors:
Stefano Chiesa
1
;
Sergio Taraglio
2
;
Stefano Pagnottelli
3
and
Paolo Valigi
3
Affiliations:
1
University of Roma Tre and ENEA, Italy
;
2
ENEA, Italy
;
3
University of Perugia, Italy
Keyword(s):
Distributed Control Systems, Mobile Robots and Intelligent Autonomous Systems, Autonomous Agents.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Distributed Control Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.