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The literature on thrust allocation algorithms that is currently available usually focuses on solving only a few of the many facets of the thrust allocation problem at a time. This paper presents a unified thrust allocation algorithm that solves most of the challenges that are faced by the practitioners in one algorithm. This includes controlling thrusters that can change the direction of the generated...
Trust allocation (TA) is an important part in dynamic positioning system. The function of TA is to allocate thrust and angle of each thruster so that the desired force and moment can be achieved. In this study, an enhanced artificial bee colony (EABC) algorithm which introduced chaotic search to scouts searching is proposed. In EABC, an employed bee of which the source has been abandoned becomes a...
This paper presents a method to efficiently solve the control allocation problem of vessels propelled by two azimuth thrusters with limited panning range. The use of rotatable thrusters results in a configuration matrix that, in the context of control allocation, typically leads to a constrained nonlinear optimization problem. It is shown, how this can be transformed into an easy to solve scalar unconstrained...
SeaDroneTM is a underwater robotic system that offers a solution to many subsea tasks such as underwater exploration, manipulation, and construction. There continues to be a growing need for underwater robotic systems such as remotely operated vehicles (ROV) and autonomous underwater vehicles (AUV). Most current underwater robotic vehicles are designed and optimized under a single working configuration,...
Motivated by the Navy's interest in decision support tools that augment planning activities within a maritime operations center (MOC), we have developed a multilevel resource allocation model that is capable of interacting with human planners to dynamically allocate hierarchically-organized assets to process interdependent tasks in order to accomplish mission objectives. The planning problem is formulated...
Over the past decades, a wide attention has been paid to crowd control and management in intelligent video surveillance area. In this paper, the authors propose a novel spatiotemporal viscous fluid field to recognize large-scale crowd event with respect to both appearance and driven factor of crowd behavior. Firstly, a spatiotemporal variation matrix is proposed to exploit motion property of a crowd...
We propose a decentralized combat model for the network-centric warfare. The troops (military units or weapon platforms) of Green (friendly) forces perform their own threat evaluation, decision making, and weapon allocation in order to encounter enemy forces. Although they cooperate with each other for the operational success, their dynamic behavior can be modeled by a set of decentralized optimization...
In this paper, we pose a new sequential variant of the famous Colonel Blotto game in which two players, Player A and Player B, must allocate finite resources among N regions of a battlefield. A key new feature of our problem formulation is the introduction of a deterministic sensor network employed by Player B to gain an informational advantage over Player A. The existence of the sensor network and...
In this work we consider the modelling of a modular aerial robot obtained by rigidly interconnecting a certain number of ducted-fan aircraft. It is shown how different geometric configurations lead to different dynamical properties of the overall system which can be exploited to improve the achievable closed-loop performances in certain scenarios. Suitable constrained control allocation problems are...
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