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In this paper, the influence of delays on the ability of a formation control algorithm to coordinate a group of twelve Biomimetic Autonomous Underwater Vehicles (BAUVs) is investigated. In this study the formation control algorithm is a decentralized methodology based on the behavioural mechanisms of fish within school structures. Incorporated within this algorithm is a representation of the well-known...
While the advantages of operating AUVs within a multi-vehicle scenario are apparent, the complications associated with the underwater environment have provided a barrier preventing the successful operation of a self-organising group of Autonomous Underwater Vehicles (AUVs). Although AUV technology has matured sufficiently to overcome these challenges, the development of suitable coordination algorithms...
Biomimetic Autonomous Underwater Vehicles are Autonomous Underwater Vehicles (AUVs) that employ similar propulsion and steering mechanisms as real fish which result in improvements in propulsive efficiency at low speed. However, as with all AUVs the range and endurance of these biologically inspired vehicles are severally limited by the on board power supply. Nevertheless, large area scanning can...
Autonomous Underwater Vehicles (AUVs) are Unmanned Underwater Vehicles (UUVs) that are able to function without direct control from a human operator. Consequently, they have a wide range of applications from scientific research of the oceans to military applications such as maritime surveillance. However, there is now the demand for AUVs to be operated within a multi-vehicle scenario to allow large...
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