Cooperative Rendezvous and Docking for Underwater Robots using Model Predictive Control and Dual Decomposition
Mikkel Cornelius Nielsen, Tor Arne Johansen, Mogens Blanke · 2018
This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact.