Abstract:Formation building for multi-small-AUV systems with on-board cameras is crucial under the limited communication underwater environment. A hybrid coordination strategy is proposed for the rapid convergence to a leader-follower pattern. The strategy consists of two parts: a time-optimal local-position-based controller (TOLC) and a distributed asynchronous discrete weighted consensus controller (ADWCC). The TOLC controller is designed to optimize the assignation of AUVs’ destinations in the given pattern and guid… Show more
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