Robust-formation control of multi-Autonomous Underwater Vehicles based on consensus algorithm

Putranti, Vina; Ismail, Zool Hilmi; Namerikawa, Toru

doi:10.1109/cca.2016.7587978

Cited by 12 publications

(3 citation statements)

References 18 publications

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“…However, there have not been many advancements in the area of underwater consensus protocols. To the best of the authors' knowledge, the only underwater consensus applications include formation control of tethered and untethered underwater vehicles [32][33][34] and tracking of underwater targets using acoustic sensor networks (ASN) [35]. Both of those approaches have been validated only in the simulation environment, using ideal communication channels.…”

Section: Information Consensusmentioning

confidence: 99%

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

et al. 2019

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This paper describes an underwater acoustic sensor network consisting of a heterogeneous robotic swarm used for long-term monitoring of underwater environments. The swarm consists of a large number of underwater robots acting as sensor nodes with limited movement capabilities, and a few surface robots aiding them in accomplishing underwater monitoring scenarios. Main interactions between two types of robots include underwater sensor deployment and relocation, energy and data exchange, and acoustic localisation aiding. Hardware capabilities of each vehicle are described in detail. Inter-agent communication is split into two layers: surface and underwater communication. Surface communication utilises wireless communication using WiFi routers configured for decentralised routing. Underwater communication mainly uses acoustic communication which, when used within a large swarm, poses a challenging task because of high probability of interference and data loss. The acoustic communication protocol used to prevent these issues is presented in detail. Finally, more complex functionalities of the robotic swarm are presented, including several results from real-life experiments.

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Section: Information Consensusmentioning

confidence: 99%

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

et al. 2019

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“…Underactuated Unmanned Underwater Vehicles (UUVs) are known for their advantages, such as low energy consumption, low cost, and simple structure. They are widely used in military and ocean engineering applications for tasks such as reconnaissance, hydrological monitoring, and anti-submarine minesweeping [1][2] [3]. However, underactuated UUVs are also characterized by high nonlinearity, large parameter perturbations, and strong external environmental interference.…”

Section: Introductionmentioning

confidence: 99%

Depth control of an unmanned underwater vehicle based on robust inversion and sliding mode variable structure control

Li,

Huang,

Chen

et al. 2023

J. Phys.: Conf. Ser.

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This paper addresses the depth control problem of an underactuated Unmanned Underwater Vehicle (UUV) subject to model uncertainties and ocean current interference. A robust inversion sliding mode variable structure control method is proposed. First, a vertical-plane UUV depth control model is established. Then, the inversion control method is combined with the sliding mode variable structure control method to devise an inversion sliding mode control algorithm. In order to further improve the control system’s robustness against external environmental interference, a robust control methodology is introduced for the design of the depth controller. Simulation results demonstrate that the designed controller effectively addresses the issues of model uncertainties and ocean current interference, thereby enhancing the UUV’s depth control accuracy.

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“…There have not been many advancements in the area of underwater consensus protocols. As far as we know, the only underwater consensus applications include formation control of tethered and untethered underwater vehicles [16], [17], [18] and tracking of underwater targets using acoustic sensor networks (ASN) [19]. Both of those approaches have been validated only in the simulation environment, using ideal communication channels.…”

mentioning

confidence: 99%

Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication

Vasiljevic,

Petrovic,

Arbanas

et al. 2022

Preprint

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In this paper, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consisting of underwater robots acting as intelligent sensors, applied to continuous monitoring of the state of a marine environment. The proposed protocol allows each agent to track the median value of individual measurements of all agents through local communication with neighbouring agents. Median is chosen as a measure robust to outliers, as opposed to average value, which is usually used. In contrast to the existing consensus protocols, the proposed protocol is dynamic, uses a switching communication topology and converges to median of measured signals. Stability and correctness of the protocol are theoretically proven. The protocol is tested in simulation, and accuracy and influence of protocol parameters on the system output are analyzed. The protocol is implemented and validated by a set of experiments on an underwater group of robots comprising of aMussel units. This experimental setup is one of the first deployments of any type of consensus protocol for an underwater setting. Both simulation and experimental results confirm the correctness of the presented approach.

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Robust-formation control of multi-Autonomous Underwater Vehicles based on consensus algorithm

Cited by 12 publications

References 18 publications

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

Depth control of an unmanned underwater vehicle based on robust inversion and sliding mode variable structure control

Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication

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