Consensus Control for a System of Underwater Swarm Robots

被引：60
作者：
Joordens, Matthew A. [1 ]
Jamshidi, Mo [2 ]
机构：
[1] Deakin Univ, Sch Engn, Geelong, Vic 3217, Australia
[2] Univ Texas San Antonio, Dept Elect & Comp Engn, San Antonio, TX 78249 USA
来源：
IEEE SYSTEMS JOURNAL | 2010年 / 4卷 / 01期
关键词：
Robots; underwater vehicles; AGENTS;
D O I：
10.1109/JSYST.2010.2040225
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.
引用
收藏
页码：65 / 73
页数：9
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