Joint Positioning and Navigation Aiding Systems for Multiple Underwater Robots

Sousa, R. J. R. de; Oliveira, Paulo; Gaspar, Tânia

doi:10.3182/20090916-3-br-3001.0018

Cited by 9 publications

(2 citation statements)

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“…To list only a few examples, formations of autonomous underwater vehicles (AUVs) can be used for applications such as minesweeping and oceanographic sampling over large areas, see, for example, and , and close formation flight of Unmanned Aerial Vehicles (UAVs) allows for more efficient fuel usage, see and . As a result of that, the field of control and estimation in formations of autonomous agents has been the subject of extensive research in the last decade, see, for example, .…”

Section: Introductionmentioning

confidence: 99%

Decentralized state observers for range‐based position and velocity estimation in acyclic formations with fixed topologies

Viegas

Batista

Oliveira

et al. 2015

Intl J Robust & Nonlinear

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Summary This paper addresses the problem of decentralized position and velocity estimation in formations of autonomous vehicles. A limited number of vehicles in the formation have access to absolute position measurements, while the rest must rely on range measurements to neighboring agents, local sensor data, and limited communication capabilities to estimate their own position and velocity. The contribution is threefold: (i) a method for designing local state observers for each agent in the formation that rely only on locally available information is presented; (ii) the stability of the continuous‐time linear time‐varying Kalman filter subject to exponentially decaying perturbations in some variables is studied; and (iii) the stability of the error dynamics of the resulting decentralized state observer is analyzed for acyclic formations with fixed topologies, and it is shown that the error converges exponentially fast to the origin for all initial conditions. Simulation results are presented and discussed to validate the proposed solution, as well as assessing its performance under the influence of measurement noise. Copyright © 2015 John Wiley & Sons, Ltd.

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Section: Introductionmentioning

confidence: 99%

Decentralized state observers for range‐based position and velocity estimation in acyclic formations with fixed topologies

Viegas

Batista

Oliveira

et al. 2015

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…Barooah (2007), Fax (2002), Tsitsiklis (1984), Middleton, R.H. and Braslavsky, J.H. (2010), and Sousa et al (2009). In short, a distributed system consists of multiple autonomous computers or agents that communicate information between them and work towards a common goal.…”

Section: Introductionmentioning

confidence: 99%