Title :
A strategy for controlling autonomous robot platoons
Author :
Stilwell, Daniel J. ; Bishop, Bradley E.
Author_Institution :
Syst. Eng. Dept., U.S. Naval Acad., Annapolis, MD, USA
Abstract :
Development of decentralized control systems for platoons of robotic vehicles often requires direct communication between vehicles. Using basic tools from the field of decentralized control, we develop a framework from which existence of vehicle controllers can be assessed for a given communication structure. This approach to control design allows one to investigate minimum inter-vehicle communication solutions. Simulation results are presented for a platoon of autonomous underwater vehicles
Keywords :
cooperative systems; decentralised control; feedback; mobile robots; multi-robot systems; underwater vehicles; autonomous mobile robots; autonomous underwater vehicles; cooperative system; decentralized control; feedback; inter-vehicle communication; platoons; Bandwidth; Communication system control; Control systems; Design methodology; Distributed control; Mobile communication; Mobile robots; Remotely operated vehicles; Robot control; Underwater vehicles;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912243
