Given the huge rising interest in autonomous drone swarms to be employed in actual marine applications, the present paper explores the possibility to recover a distressed vessel by means of the other agents belonging to the swarm itself. Suitable approaches and control strategies are developed and tested to find the highest performance algorithms. Different rules are exploited to obtain a correct behaviour in terms of swarm interaction, namely collective and coordinated, and individual. An innovative feedback control strategy is adopted and demonstrated its effectiveness. Extensive simulation runs have been conducted, whose results validate the approach. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
A new tow maneuver of a damaged boat through a swarm of autonomous sea drones
Bibuli M;Zereik E;Caccia M
2019
Abstract
Given the huge rising interest in autonomous drone swarms to be employed in actual marine applications, the present paper explores the possibility to recover a distressed vessel by means of the other agents belonging to the swarm itself. Suitable approaches and control strategies are developed and tested to find the highest performance algorithms. Different rules are exploited to obtain a correct behaviour in terms of swarm interaction, namely collective and coordinated, and individual. An innovative feedback control strategy is adopted and demonstrated its effectiveness. Extensive simulation runs have been conducted, whose results validate the approach. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
