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.

Decentralized deployment with obstacle avoidance for AUVs

ANTONELLI, Gianluca;MARINO, Alessandro;CHIAVERINI, Stefano
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.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/18398
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