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COOPERATIVE PATH-FOLLOWING OF MULTIPLE SURFACE VESSELS
COOPERATIVE PATH-FOLLOWING OF
MULTIPLE SURFACE VESSELS WITH
PARAMETRIC MODEL UNCERTAINTY AND
IN THE PRESENCE OF OCEAN CURRENTS
Joa?o Almeida ? Carlos Silvestre ? Anto?nio Pascoal ?
? Institute for Systems and Robotics,
Instituto Superior Te?cnico,
Av. Rovisco Pais, 1049-001 Lisboa, Portugal
E-mails: {jalmeida,cjs,antonio}@isr.ist.utl.pt
Abstract: This paper addresses the problem of cooperative path-following of
multiple autonomous vehicles. Stated briefly, the problem consists in steering a
group of vehicles along specified paths, while keeping a desired spatial formation
arrangement. For a given class of autonomous surface vessels, it is shown how
Lyapunov based techniques and graph theory can be brought together to design
a decentralised control structure where the vehicle dynamics and the constraints
imposed by the topology of the inter-vehicle communication network are explicitly
taken into account. Path-following for each vehicle amounts to reducing an
appropriately defined geometric error to zero, in the presence of ocean currents
and parametric model uncertainty. Vehicle cooperation is achieved by adjusting
the speed of each vehicle along its path according to information exchanged on the
positions of a subset of the other vehicles, as determined by the communication
topology adopted. Global stability and convergence of the closed-loop system are
guaranteed.
Keywords: Cooperative motion control, Path-following, Autonomous surface
vehicles, Graph theory, Nonlinear control, Adaptive control.
1. INTRODUCTION
The topic of multi-agent system cooperation is
of great interest in a wide range of scientific
and technological areas such as mobile robotics,
biology, and artificial intelligence, among others.
Using a group of simple, and possibly inexpensive
robots, not only allows for the execution of tasks
too complex for a single robot, but also increases
1 Research supported in part by project GREX / CEC-
IST (Contract No. 035223), project MAYA-Sub of the
AdI (PT), t
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