Single range observability for cooperative underactuated underwater vehicles

Parlangeli, Gianfranco; Indiveri, Giovanni

doi:10.1016/j.arcontrol.2015.09.008

Cited by 13 publications

(4 citation statements)

References 23 publications

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“…An iterative algorithm is derived first, after which a distributed implementation is sought, and its usefulness is also shown using an illustrative example. Several research directions are currently under investigation, which includes more complex kinematics models, such as [51], as well as the analysis of several different graph topologies [1].…”

Section: Discussionmentioning

confidence: 99%

A Distributed Algorithm for the Assignment of the Laplacian Spectrum for Path Graphs

Parlangeli

2023

Mathematics

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In this paper, we bring forward a distributed algorithm for the assignment of a prescribed Laplacian spectrum for path graphs by means of asymmetric weight assignment. We first describe the meaningfulness and the relevance of this mathematical setting in modern technological applications, and some examples are reported, revealing its practical usefulness in a variety of applications. Then, the solution is derived both theoretically and through an algorithm. Special attention is devoted to a distributed implementation of the main algorithm, which is a valuable feature for several modern applications. Finally, the positivity is discussed, which is revealed to be a consequence of the strict interlacing property.

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Section: Discussionmentioning

confidence: 99%

A Distributed Algorithm for the Assignment of the Laplacian Spectrum for Path Graphs

Parlangeli

2023

Mathematics

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“…At last, notice that the described approach can be extended to the case of multi-vehicle navigation: in particular, relative localization can be achieved when a vehicle has access to the range from another one and they share knowledge of their inputs. Preliminary results relative to this problem have been addressed for different first order kinematics models in [8] [9] and [13].…”

Section: Discussionmentioning

confidence: 99%

“…This localization problem, commonly known in the literature as single beacon localization or range-only localization, has received increasing attention in the last years [1], [2], [3], [4], [5], [6]. Similar approaches can be considered in the case of multi-vehicle localization where opportunistic range measurements arising from time of flight data associated to acoustic communications devices may be available and can be used for relative localization [7], [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Observability analysis for single range localization

Arrichiello

Palma

Indiveri

et al. 2015

OCEANS 2015 - Genova

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This paper presents an observability analysis for the single range localization problem of a second order kinematics model of an Autonomous Underwater Vehicle (AUV) possibly subject to a constant current. In particular, the AUV is modeled as a double integrator having as input the acceleration in an inertial reference frame and as output its distance to a stationary beacon. Since the range is a non linear function of the position, the single range observability problem is inherently nonlinear. Thus, to eventually design an observer, we assess observability conditions addressing two complementary issues: local weak observability of the nonlinear system and global observability referring to a linear time varying representation of the system derived through a 'state augmentation' method. The proposed methods for observability analysis is discussed in different case studies (e.g. 2D/3D, absence/presence of current) and the performances of the related state observers are illustrated throughout numerical simulations.

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“…Several results are promising, however they are limited to the case of acyclic graphs, and agents modeled as first-order dynamics. Several directions of research stem from the results of this paper, as for example the analogous investigations for the general complex eigenvalue problem and/or investigating more general graphs with cycles, or extending the results of this paper to more complex kinematics including nonholonomic constraints, as those explored in [59].…”

Section: A Constructive Examplementioning

confidence: 99%

Laplacian Eigenvalue Allocation Through Asymmetric Weights in Acyclic Leader-Follower Networks

Parlangeli

2023

IEEE Access

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This paper tackles the eigenvalue allocation problem through an appropriate choice of the edge weights for the class of combinatorially-symmetric Laplacian matrices of acyclic graphs, namely Laplacian matrices showing symmetric zero/nonzero values in its entries according to a tree graph pattern. The mathematical setting of the problem is remarkably suited for several current multi-agent systems engineering applications, when the communication graph is bidirectional but each agent can set the weight of each incoming neighbor value. The resulting algorithm is inherently iterative and it requires a finite time execution, so that it is well fit for real-world applications as a preliminary routine. For this reason, a special focus is devoted to a distributed implementation of the main algorithm. As a final theoretical result, it is proved that, under the strict interlacing property, the solution is positive, and the algorithm can be iterated. An illustrative example closes the paper, showing how the algorithm works in practice.

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Single range observability for cooperative underactuated underwater vehicles

Cited by 13 publications

References 23 publications

A Distributed Algorithm for the Assignment of the Laplacian Spectrum for Path Graphs

A Distributed Algorithm for the Assignment of the Laplacian Spectrum for Path Graphs

Observability analysis for single range localization

Laplacian Eigenvalue Allocation Through Asymmetric Weights in Acyclic Leader-Follower Networks

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