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• W2013533775 abstract "An architecture for collision free formation control of multiple autonomous underwater vehicles is proposed in this paper. Based upon blackboard communication, the architecture includes communication, motion control and environment interacting modules. Orderly-Quaternion sets and control matrix are defined for the design of accurate formation geometry. Formation changing rules are proposed based on sensor information at first, and control matrix and artificial potential method are then utilized in formation reconfiguration. Finally the proposed approach is verified by a simulation of a swarm of 8 AUV's moving through a constrained environment." @default.
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• W2013533775 date "2010-05-01" @default.
• W2013533775 modified "2023-09-26" @default.
• W2013533775 title "Collision free formation control for multiple autonomous underwater vehicles" @default.
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• W2013533775 doi "https://doi.org/10.1109/oceanssyd.2010.5603540" @default.
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