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EnglishIn 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.
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| Titolo: | Decentralized deployment with obstacle avoidance for AUVs |
| Autori: | |
| Data di pubblicazione: | 2011 |
| Abstract: | 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. |
| Handle: | http://hdl.handle.net/11580/18398 |
| ISBN: | 9783902661937 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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