Decentralized deployment with obstacle avoidance for AUVs

In multiple robotic system, the deployment problem consists in the optimal placement of the robots within a given environment. In this paper, a fully decentralized strategy, based on the so called Null-Space-based Behavioral control is proposed. The chosen behavioral approach allows to handle the eventual presence of obstacles in the environment in a task-priority fashion thus surmounting mono-task classical approaches. Numerical simulations confirm the validity of the proposed deployment strategy.