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Original Articles

Autonomous and decentralized mission planning for clusters of UUVs

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Pages 1169-1179 | Received 01 Jun 2006, Accepted 31 Jan 2007, Published online: 22 Dec 2008
 

Abstract

This paper proposes an algorithm for autonomous strategic mission planning of missions where multiple unhabitated underwater vehicles (UUVs) cooperate in order to solve one or more mission tasks. Missions of this type include multi-agent reconnaissance missions and multi-agent mine sweeping missions. The mission planning problem is posed as a receding horizon mixed–integer constrained quadratic optimal control problem. This problem is subsequently partitioned into smaller subproblems and solved in a parallel and decentralized manner using a distributed Nash-based game approach. The paper presents the development of the proposed algorithm and discusses its properties. An application example is used to further demonstrate the main characteristics of the proposed method.

Acknowledgements

The authors are grateful for the financial support for this work provided by the Engineering and Physical Science Research Council (EPSRC) Platform Grant Industrial Non-linear Control and Applications GR/R04683/01.

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