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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

ISBN: 978-989-8565-21-1

ISSN: 2184-2809

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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

@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},
}

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

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