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Geometric Formation Control for Autonomous Underwater Vehicles
(Georgia Institute of Technology, 2010-05)
This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for ...
Robust Geometric Formation Control of Multiple Autonomous
(Georgia Institute of Technology, 2013-06)
This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-free ...