Name
Title | ||
|---|---|---|
Cooperative Rendezvous and Docking for Underwater Robots using Model Predictive Control and Dual Decomposition |
Abstract | ||
|---|---|---|
This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.23919/ECC.2018.8550366 | 2018 European Control Conference (ECC) |
Keywords | Field | DocType |
underwater robots,model predictive control,dual decomposition,rendezvous,docking,visual constraints,camera-based navigation,visual contact,distributed model predictive controller | Convergence (routing),Control theory,Distributed element model,Visualization,Docking (dog),Computer science,Model predictive control,Control engineering,Linear programming,Rendezvous | Conference |
ISBN | Citations | PageRank |
978-1-5386-5303-6 | 2 | 0.37 |
References | Authors | |
12 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mikkel Cornelius Nielsen | 1 | 2 | 0.37 |
| Tor A. Johansen | 2 | 1008 | 148.90 |
| Mogens Blanke | 3 | 81 | 18.78 |