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.
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 language | English |
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| Title of host publication | Proceedings of European Control Conference 2018 |
| Publisher | IEEE |
| Publication date | 2018 |
| Pages | 14-19 |
| ISBN (Print) | 978-3-9524-2699-9 |
| DOIs | |
| Publication status | Published - 2018 |
| Event | European Control Conference 2018 - Amathus Beach Hotel, Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jul 2018 |
Conference
| Conference | European Control Conference 2018 |
|---|---|
| Location | Amathus Beach Hotel |
| Country/Territory | Cyprus |
| City | Limassol |
| Period | 12/06/2018 → 15/07/2018 |