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Decentralized Cooperative Control of Autonomous Surface Vehicles

In: Dynamics of Information Systems

Author

Listed:
  • Pedro DeLima

    (U.S. Air Force Academy)

  • Dimitri Zarzhitsky

    (U.S. Air Force Academy)

  • Daniel Pack

    (U.S. Air Force Academy)

Abstract

Summary Many pressing issues associated with control of cooperative intelligent systems involve challenges that arise from the difficulty of coordinating multiple task objectives in highly dynamic, unstructured environments. This chapter presents a multi-objective cooperative control methodology for a team of autonomous surface vehicles deployed with the purpose of protecting a waterway against hostile intruders. The methodology captures the intent of a human commander by breaking down high-level mission objectives into specific task assignments for a fleet of autonomous boats with a suite of on-board sensors, limited processing units, and short-range communication capabilities. The fundamental technologies supporting our control method have already been field-tested on a team of autonomous aerial vehicles, and the aim of this work is to extend the previously developed theories to multiple problem domains using heterogeneous vehicle platforms.

Suggested Citation

  • Pedro DeLima & Dimitri Zarzhitsky & Daniel Pack, 2010. "Decentralized Cooperative Control of Autonomous Surface Vehicles," Springer Optimization and Its Applications, in: Michael J. Hirsch & Panos M. Pardalos & Robert Murphey (ed.), Dynamics of Information Systems, chapter 0, pages 257-273, Springer.
    • Handle: RePEc:spr:spochp:978-1-4419-5689-7_13
    DOI: 10.1007/978-1-4419-5689-7_13
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