文章基本信息

标题：A new tow maneuver of a damaged boat through a swarm of autonomous sea drones
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作者：L. Nesi ; G. Pepe ; M. Bibuli 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：360-366
DOI：10.1016/j.ifacol.2019.12.333
语种：English
出版社：Elsevier
摘要：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.
关键词：KeywordsSwarm RoboticsSea DronesRescueFeedback control