A formation flying algorithm for autonomous underwater vehicles
Pia L. Kempker, André C. M. Ran, Jan H. van Schuppen · 2011
A control algorithm for the problem of formation flying for autonomous underwater vehicles is presented. Using a restrictive communication scheme and LQ optimal control, the control algorithm respects the limitations of underwater communication and on-board computing power. The influence of restricting communications on the performance of the control algorithm is illustrated by a simulation.