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Cooperative formation control of autonomous underwater vehicles: An overview

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Abstract

Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles (AUV) based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.

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Authors and Affiliations

  1. Department of Electrical Engineering, Veer Surendra Sai University of Technology, Burla, 768018, India

    Bikramaditya Das & Bibhuti Bhusan Pati

  2. Department of Electrical Engineering, National Institute of Technology, Rourkela, 769008, India

    Bidyadhar Subudhi

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  1. Bikramaditya Das
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  2. Bidyadhar Subudhi
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  3. Bibhuti Bhusan Pati
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Correspondence to Bidyadhar Subudhi.

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Recommended by Associate Editor Veljko Potkonjak

Bikramaditya Das received the B.Tech. degree in electronics and telecommunications engineering from the Biju Patnaik University of Technology, Rourkela, M.Tech. degree in wireless communication from Department of Electrical Engineering, National Institute of Technology Rourkela, India in 2010, and the Ph.D. degree in control under communication constraints from Department of Electrical Engineering, Veer Surendra Sai University of Technology Odisha, Burla in 2016. He is currently working as assistant professor at Department of Electronics and Telecommunication Engineering, Veer Surendra Sai University of Technology Odisha, Burla. He is an associate member of IEI.

His research interests include formation control of autonomous underwater vehicles, robotics and wireless communication.

ORCID ID: 0000-0001-9734-806X

Bidyadhar Subudhi received the B.Eng. degree in electrical engineering from National Institute of Technology (NIT), Regional Engineering College (REC), India in 1988, the M.Eng. degree in control and instrumentation from Indian Institute of Technology Delhi (IIT), India in 1993, and the Ph.D. degree in control system engineering from University of Sheffield, UK in 2003. He was a post-doctoral research fellow at Department of Electrical & Computer Engineering, National University of Singapore (NUS), Singapore from May to November in 2005. He was a visiting professor in University of Saskatchewan, Canada from May to June in 2009 and also at Asian Institute of Technology (AIT) Bangkok from January to May in 2013. He is a professor at Department Electrical Engineering, National Institute of Technology (NIT), India. He is currently coordinator of Centre of Excellence, Renewable Energy System, Centre of Excellence, Industrial Electronics & Robotics, and head of Computer Centre at NIT. He is also the principal investigator in several research projects funded by Defense Research Development Organization (DRDO), Council of Scientific and Industrial Research (CSIR) and Department of Science and Technology (DST), including an international cooperation project under the UK India Education Research Initiative (UKIERI) scheme. He has published 40 journal papers in prestigious journals such as IEEE Transactions, IET and Elsevier and presented 70 research papers in many international conferences both in India and abroad. He has edited one book and contributed 3 book chapters. He chaired a number of technical sessions in international conferences. He is a fellow of the IET (UK) and senior member of IEEE (USA). He is a regular reviewer of IEEE Transaction on Systems, Man, & Cybernetics, Power Delivery, Control System Technology and Neural Networks and Automatic Control.

His research interests include system identification and adaptive control, networked control system, control of flexible and under water robots, control of renewable energy systems, estimation and filtering with application to power system.

ORCID ID: 0000-003-4383-6783

Bibhuti Bhusan Pati is currently working as a professor in Electrical Engineering Department, Veer Surendra Sai University of Technology Odisha, Burla. He is the fellow of Institution of Engineers, member Indian Society for Technical Education, Bigyan Academy, and Engineering Congress. He has published more than 100 papers in reputed journals and conferences. He is the investigator of many AICTE sponsored projects.

His research of interests include control system and applications to power system.

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Das, B., Subudhi, B. & Pati, B.B. Cooperative formation control of autonomous underwater vehicles: An overview. Int. J. Autom. Comput. 13, 199–225 (2016). https://doi.org/10.1007/s11633-016-1004-4

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