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We describe an approach with considerations for the limitations of operating underwater, including low bandwidth communications, for performing UUV collaborative missions. We implement a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs to explicitly account for the limitations of operating...
We describe a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs in a manner that explicitly accounts for the limitations of operating underwater, which include low bandwidth communications. Rather than treating the challenges of operating a swarm underwater, such as swarm communications...
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