Institutional Research Information Service
UCL Logo
Please report any queries concerning the funding data grouped in the sections named "Externally Awarded" or "Internally Disbursed" (shown on the profile page) to your Research Finance Administrator. Your can find your Research Finance Administrator at https://www.ucl.ac.uk/finance/research/rs-contacts.php by entering your department
Please report any queries concerning the student data shown on the profile page to:

Email: portico-services@ucl.ac.uk

Help Desk: http://www.ucl.ac.uk/ras/portico/helpdesk
Publication Detail
Behavior-based control: An approach to cooperative AUVs missions
  • Publication Type:
  • Authors:
    Sorbi L, De Capua GP, Fontaine JG, Toni L, Rossi L
  • Publication date:
  • Pagination:
    9, 15
  • Published proceedings:
    Proceedings of the 16th IASTED International Conference on Robotics and Applications, RA 2011
  • ISBN-13:
  • Status:
Cooperation of multiple underwater vehicles can offer great improvements to a variety of applications, opening the possibility to perform more complex tasks (e.g., target recognition, environmental monitoring). This paper addresses control algorithm issues for multiple Autonomous Underwater Vehicles (AUVs) employed in a target detection mission. A novel Behavior-Based (BB) algorithm, which evaluates each single AUV motion as a reaction to the perceived surrounding, while taking into account the mission history, is proposed. Defining each robot behavioral action, the algorithm leads to an emergent behavior of the whole fleet, which can even be improved with data sharing. To test the proposed algorithm a real vehicle model together with its motion controller have been implemented. Results demonstrate that a realistic AUV can follow the reference path produced by the high-level controller with a negligible motion error.
Publication data is maintained in RPS. Visit https://rps.ucl.ac.uk
 More search options
UCL Researchers
Dept of Electronic & Electrical Eng
University College London - Gower Street - London - WC1E 6BT Tel:+44 (0)20 7679 2000

© UCL 1999–2011

Search by