Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition

Mikkel Cornelius Nielsen, Tor Arne Johansen, Mogens Blanke

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Abstract

This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective
is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact.
Original languageEnglish
Title of host publicationProceedings of European Control Conference 2018
PublisherIEEE
Publication date2018
Pages14-19
ISBN (Print)978-3-9524-2699-9
DOIs
Publication statusPublished - 2018
EventEuropean Control Conference 2018 - Amathus Beach Hotel, Limassol, Cyprus
Duration: 12 Jun 201815 Jul 2018

Conference

ConferenceEuropean Control Conference 2018
LocationAmathus Beach Hotel
CountryCyprus
CityLimassol
Period12/06/201815/07/2018

Cite this

Nielsen, M. C., Johansen, T. A., & Blanke, M. (2018). Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition. In Proceedings of European Control Conference 2018 (pp. 14-19). IEEE. https://doi.org/10.23919/ECC.2018.8550366