Surface Leader and Underwater Leader Experiments Sample Clauses

Surface Leader and Underwater Leader Experiments. Design and Development Framework The ability of two or more agents, either vehicles or human divers, to maneuver in a cooperative manner at close distances is critical for the applications envisioned in the scope of the project. To achieve this, the vehicles should use the acoustic channel to exchange motion-related information. Given this setting, the Leader Tracking System (LTS) consists of a set of control and navigation-related blocks that, when combined with a strategy for exchanging information, enables one or more agents (followers) to track (follow) the position of a specific agent (leader) on a horizontal plane, with optional x-y offsets defined in a convenient path-dependent manner. The path of the leader agent is unknown a-priori by the follower agents. Motion in the vertical direction is considered to be handled independently by a depth or altitude controller. The setup of the LTS is general enough for applications in a large variety of scenarios. In this section, after a brief technical description of the system, the results of applications to two such scenarios are presented. The first consists of an underwater vehicle tracking a surface vehicle; the second illustrates a surface vehicle tracking an underwater vehicle. Note that the results on these two scenarios are a solid contribution towards achieving the necessary functionalities in terms of cooperative maneuvers envisioned in the project, since it should be possible to replace one of the vehicles with a human diver with only slight modifications to the system. The general scheme adopted to run a Leader Tracking maneuver can be best explained by referring to the block diagrams in Figs. 5.1.1 and 5.1.2, illustrating the navigation, control, and inter-vehicle information flow architectures adopted by IST. The illustrations concern the case where the leader vehicle moves at the surface (ASV), tracked by an underwater vehicle (AUV). Later, an extension to the setup is introduced so as to enable the underwater agent (AUV) to play the role of leader. Leader Velocity Estimator Leader Velocity Estimator Follower
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