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Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition

Nielsen, Mikkel Cornelius; Johansen, Tor Arne; Blanke, Mogens
Chapter
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URI
http://hdl.handle.net/11250/2579284
Date
2018
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  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [21000]
Original version
10.23919/ECC.2018.8550366
Abstract
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.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)

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