A strategy for controlling autonomous robot platoons
Daniel J. Stilwell, Bradley E. Bishop · 2002
Development of decentralized control systems for platoons of robotic vehicles often requires direct communication between vehicles. Using basic tools from the field of decentralized control, we develop a framework from which existence of vehicle controllers can be assessed for a given communication structure. This approach to control design allows one to investigate minimum inter-vehicle communication solutions. Simulation results are presented for a platoon of autonomous underwater vehicles.