Group pursuit policies for UUVs using nonlinear model predictive control and reachable sets
Jongho Lee, J. Mikael Eklund, Shankar Sastry

Citation
Jongho Lee, J. Mikael Eklund, Shankar Sastry. "Group pursuit policies for UUVs using nonlinear model predictive control and reachable sets". Unpublished article, May, 2007.

Abstract
A decentralized control scheme for large packs of unmanned underwater vehicles (UUV) using reachability computation and model predictive control is proposed and investigated. This scheme fits within a broader template based method for organizing and controlling large groups of UUVs and addressed one important mode of operation for these vehicles, specifically decentralized, coordinated group pursuit and tracking of intruders through the UUV network. The reachability computation and model predictive control schemes are presented along with simulation results with medium-sized packs of UUVs. Hardware implementation is also described for five UUVs

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• HTML

  Jongho Lee, J. Mikael Eklund, Shankar Sastry. <a
  href="http://chess.eecs.berkeley.edu/pubs/253.html"
  ><i>Group pursuit policies for UUVs using nonlinear
  model predictive control and reachable
  sets</i></a>, Unpublished article,  May, 2007.

• Plain text

  Jongho Lee, J. Mikael Eklund, Shankar Sastry. "Group
  pursuit policies for UUVs using nonlinear model predictive
  control and reachable sets". Unpublished article,  May,
  2007.

• BibTeX

  @unpublished{LeeEklundSastry07_GroupPursuitPoliciesForUUVsUsingNonlinearModelPredictive,
      author = {Jongho Lee and J. Mikael Eklund and Shankar Sastry},
      title = {Group pursuit policies for UUVs using nonlinear
                model predictive control and reachable sets},
      month = {May},
      year = {2007},
      abstract = {A decentralized control scheme for large packs of
                unmanned underwater vehicles (UUV) using
                reachability computation and model predictive
                control is proposed and investigated. This scheme
                fits within a broader template based method for
                organizing and controlling large groups of UUVs
                and addressed one important mode of operation for
                these vehicles, specifically decentralized,
                coordinated group pursuit and tracking of
                intruders through the UUV network. The
                reachability computation and model predictive
                control schemes are presented along with
                simulation results with medium-sized packs of
                UUVs. Hardware implementation is also described
                for five UUVs},
      URL = {http://chess.eecs.berkeley.edu/pubs/253.html}
  }
  

Posted by Jongho Lee on 14 May 2007.
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