Title :
Underwater swarm robotics consensus control
Author :
Joordens, Matthew A. ; Jamshidi, Mo
Author_Institution :
Sch. of Eng., Deakin Univ., Waurn Ponds, NSW, Australia
Abstract :
The control of a swarm of underwater robots requires more than just a control algorithm, it requires a communications system. 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 The control system must be able to work on minimal and out of date information. The control system must also be able to control a large number of robots without a master control, a decentralized control approach. This paper describes one such control method.
Keywords :
distributed control; multivariable control systems; robots; communications system; control system; decentralized control approach; underwater communications; underwater swarm robotics consensus control; Communication system control; Control engineering; Control systems; Marine vehicles; Oceans; Robot control; Robot kinematics; Robotics and automation; USA Councils; Underwater vehicles; Control systems; Robots; Underwater vehicles;
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2009.5346165
