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Multi-AUV Control with Adaptive Formation in Underwater Environment

Explore cooperative control of multiple Autonomous Underwater Vehicles (AUV) using VBAP technology, adaptable formation control, and 3D space design dynamics. Overcome challenges like communication, water currents, and latency for successful implementation.

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Multi-AUV Control with Adaptive Formation in Underwater Environment

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  1. 788.11J Presentation“Multi-AUV Control”Presented ByMukundan Sridharan

  2. The Main Idea • Cooperative control of multiple Autonomous Underwater Vehicle (AUV), using VBAP • VBAP: Virtual Body and Artificial Potentials • Adaptable formation Control, based on sensor feedback • Design in 3D space • Bounded Error • Design dynamics for the VB, like rotation, dilation.

  3. The Main Achievements and Contribution • Making it work • VBAP Algorithm • Glider Simulator • Implementation Design

  4. Implementation Design

  5. The Challenges • Underwater Communication (?) • The unpredictable external water currents • By considering the previous current measurements when calculating new mission paths. • Latency: • The GPS location is one cycle old • The current estimate is two cycle old.

  6. A Slocum Glider developed by Webb Research Corporation

  7. Results

  8. Centroid Error

  9. Innovation • The design of the glider • Buoyancy engine • No external thrust • Satellite based Communication

  10. Reference • Multi-AUV Control and Adaptive Sampling in Monterey Bay.

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