Work

Cooperative Rendezvous and Docking for Underwater Robots using Model Predictive Control and Dual Decomposition

Year: 2018

Type: conference-paper

Abstract: This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact.

Source: European Control Conference (ECC)

DOI: 10.23919/ecc.2018.8550366

Authors: Mikkel Cornelius Nielsen, Tor Arne Johansen, Mogens Blanke

Institution: Norwegian University of Science and Technology

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2902429704

FWCI: 0.413

Cites: 38

Cited by: 11

Related to: 10