Flocking Approach to Spatial Configuration Control in Underwater Swarms

Stefano Chiesa, Sergio Taraglio, Stefano Pagnottelli, Paolo Valigi

2012

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

  1. Cowan, N., Shakerina, O., Vidal, R., Sastry, S., 2003. Vision-based follow-the-leader, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1796-1801.
  2. Ercan, M. F., Li, X., Liang, X., 2010. A Regular Tetrahedron Formation Strategy for Swarm Robots in Three-Dimensional Environment, in Lecture Notes in Computer Science: Hybrid Artificial Intelligence Systems, Berlin: Springer.
  3. Fossen, T. I., 1994. Guidance and Control of Ocean Vehicles, New York: John Wiley & Sons.
  4. Fossen, T. I., Fjellstad, O. E., 1995. Nonlinear Modeling of Marine Vehicles in Six Degrees of Freedom, Journal of Mathematical Modeling of Systems, 1 (1).
  5. Gazebo, computer software, 2012. Available from: http:// playerstage.sourceforge.net/. [27 Feb 2012].
  6. Hou, S. P., Cheah, C. C., 2009. Multiplicative Potential Energy Function for Swarm Control, in Proceedings of the 2009 IEEE/RSJ Int'l Conf on Intelligent Robots and Systems, St. Louis,USA, pag 4363-4368.
  7. Hou, S. P., Cheah, C. C., 2011. Can a Simple Control Scheme Work for a Formation Control of Multiple Autonomous Underwater Vehicles?, in IEEE Transaction on Control Systems Technology, 19 (5), pages 1090-1101.
  8. Kalantar, S., Zimmer, U. R., 2007. Distributed shape control of homogeneous swarms of autonomous underwater vehicles, in Autonomous Robots, 22 (1), pag 37-53.
  9. Monteiro, S., Bicho, E., 2002. A dynamical systems approach to behaviour based formation control, in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 2606-2611.
  10. Olfati-Saber, R., 2006. Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory, IEEE Transaction on Automatic Control, 51 (3), pag 401-420.
  11. Reynolds, C. W., 1987. Flocks, Herds, and Schools: A Distributed Behavioral Model, in Computer Graphics, 21(4), pages 25-34.
Download


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