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Consensus control for a system of underwater swarm robots

Joordens, Matthew A. and Jamshidi, Mo 2010, Consensus control for a system of underwater swarm robots, IEEE systems journal, vol. 4, no. 1, pp. 65-73.

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Title Consensus control for a system of underwater swarm robots
Author(s) Joordens, Matthew A.
Jamshidi, Mo
Journal name IEEE systems journal
Volume number 4
Issue number 1
Start page 65
End page 73
Total pages 9
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2010-03
ISSN 1932-8184
1937-9234
Keyword(s) robots
underwater vehicles
Summary The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30033764

Document type: Journal Article
Collections: School of Information Technology
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Created: Wed, 06 Apr 2011, 15:21:49 EST by Sandra Dunoon

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.