The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided. ; © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Qc 20120213


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    Title :

    Event-based motion coordination of multiple underwater vehicles under disturbances



    Publication date :

    2010-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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