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A multi-AUV system for cooperative tracking and following of leopard sharks
2013 IEEE International Conference on Robotics and Automation, 2013This paper presents a system of multiple coordinating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter. Each AUV is equipped with a stereo-hydrophone system that provides measurements of the relative bearing to the transmitter, as well as an acoustic modem that allows for inter-AUV ...
Dylan Shinzaki +6 more
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A multi-AUV hunting algorithm with ocean current effect
2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015Multi-AUV hunting problem has been one of the focusing issues in the multi-robot system research. For the coordination problem between AUVs and ocean current influence in the process of AUV collaboration hunting and in order to hunt the target efficiently, a novel multi-AUV hunting algorithm is proposed in this paper.
Ruofan Lv +3 more
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Triangle Formation Control of Multi-AUVs with Communication Constraints
Applied Mechanics and Materials, 2014Aimed at solving the problem of multi-AUVs formation control, an analysis has been made on a triangle formation based on leader-follower construction, with a multi-AUVs formation controller designed with communication constraints taken into account. The desired velocity of the follower is the resultant velocity of three component velocities, each of ...
Guan Nan Li, Hui Ying Dong, Hong Li Xu
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An improved multi-AUV patrol path planning method
2017 IEEE International Conference on Mechatronics and Automation (ICMA), 2017In dealing with complex environment AUV cooperative path planning, traditional particle swarm optimization (PSO) algorithm because of its lack of constraints, in the update process will have a certain probability to produce an infeasible path. In addition, for the nearshore shallow sea environment, its ocean currents will have a certain impact on the ...
Zheping Yan, Jingwen He, Juan Li
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Multi AUVs Cooperative Navigation Based on Information Entropy
OCEANS 2018 MTS/IEEE Charleston, 2018With the increasing exploration of the marine resources, cooperative navigation (CN) of multi autonomous underwater vehicles (AUVs) can improve exploration efficiency and accuracy. In order to improve the positioning accuracy in the CN, we propose the Information Entropy (IE) algorithm, which can evaluate the measurement informations, and choosing the ...
Lichuan Zhang, Xiuye Tao, Haojiao Liang
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Distributed vector optimization design for multi-AUV systems
2017 36th Chinese Control Conference (CCC), 2017This paper proposes a distributed controller to optimize a sum of state-dependent vector objective functions for multi-Autonomous Underwater Vehicle (AUV) systems. In particular, each AUV has a local private objective and can only interact with its neighboring AUVs, which are described by undirected graphs, to measure relative states. Using 6 degree of
Zhuo Li, Keyou You, Shiji Song
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A Survey on Formation Control Algorithms for Multi-AUV System
Unmanned Systems, 2014With the development of autonomous underwater vehicle (AUV) application techniques, formation control of multiple AUVs becomes a worldwide research focus. In this paper, first, formation control methods are summarized as: virtual structure method, behavior-based method, leader–follower method and artificial potential field method.
Xin Li, Daqi Zhu, Yuang Qian
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A Low-cost Mobile Infrastructure for Multi-AUV Networking
2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018The study of underwater environments is a challenging task that can lead to discoveries in many scientific domains. Among the tools for such studies are Autonomous Underwater Vehicles (AUVs) that can be operated remotely or autonomously for gathering information.
Barzin Moridian +8 more
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Task allocation for Multi-AUV system: A review
Ocean Engineering, 2022Chaoqun Wang +6 more
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Topology formation of multi-AUV network with MAC and routing protocols
International Journal of Sensor Networks, 2023Ansa Shermin S +3 more
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