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788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan

788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan. 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

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788.11J Presentation “Multi-AUV Control” Presented By Mukundan Sridharan

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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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