Cooperative Distributed Navigation, Guidance, and Control Systems for Autonomous Surface Vehicles with Different Physical Connections. Issue 16 (2021)

• Record Type: Journal Article
• Authors: Brecher, Johanna Noria; Zereik, Enrica; Bibuli, Marco; Loth, Matthias; Glotzbach, Thomas
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 16(2021)
• Page Start: 208
• Page End: 215
• Publication Date: 2021
• Subjects: Maritime robotics (underwater -- surface -- aerial) -- Cooperative navigation -- control -- Guidance -- navigation -- control (GNC) of unmanned marine vehicles (surface -- underwater) -- Autonomous -- remotely operated (surface -- underwater) marine vessels -- Marine swarms of heterogeneous agents; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.10.095
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In the paper, we describe our studies to realize a control algorithm for distributed marine robots with rigid/elastic mechanical constraints between them. The work is carried out in the framework of the EUMR TNA project DINGOS. Our strategy follows the line to adapt conventional cooperative path-following algorithms from literature to the described problem in order to start to extend the concept of DP3, currently related to Dynamic Positioning, to the phase of motion along a path of a vessel. The usability of different concepts is evaluated following some well-defined quality criteria in a kinematic simulation.