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Preliminary communication
https://doi.org/10.7225/toms.v08.n01.002

Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task

Andrzej Zak   ORCID icon orcid.org/0000-0002-0364-4077 ; Faculty of Navigation and Naval Weapons, Polish Naval Academy, Poland

Fulltext: english, pdf (874 KB) pages 18-25 downloads: 105* cite
APA 6th Edition
Zak, A. (2019). Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task. Transactions on Maritime Science, 08 (01), 18-25. https://doi.org/10.7225/toms.v08.n01.002
MLA 8th Edition
Zak, Andrzej. "Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task." Transactions on Maritime Science, vol. 08, no. 01, 2019, pp. 18-25. https://doi.org/10.7225/toms.v08.n01.002. Accessed 1 Apr. 2020.
Chicago 17th Edition
Zak, Andrzej. "Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task." Transactions on Maritime Science 08, no. 01 (2019): 18-25. https://doi.org/10.7225/toms.v08.n01.002
Harvard
Zak, A. (2019). 'Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task', Transactions on Maritime Science, 08(01), pp. 18-25. https://doi.org/10.7225/toms.v08.n01.002
Vancouver
Zak A. Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task. Transactions on Maritime Science [Internet]. 2019 [cited 2020 April 01];08(01):18-25. https://doi.org/10.7225/toms.v08.n01.002
IEEE
A. Zak, "Control of Unmanned Underwater Vehicle as a Member of Vehicles Team Performing a Given Task", Transactions on Maritime Science, vol.08, no. 01, pp. 18-25, 2019. [Online]. https://doi.org/10.7225/toms.v08.n01.002

Abstracts
The article presents the control system of a single underwater vehicle which is a member of the underwater vehicles team. The application of the multi-agent system concept for modelling and controlling a team of homogeneous underwater vehicles is discussed. Issues relating to cooperation actions in the team of underwater vehicles are described and solved using the theory of games and vector quality index. The process of negotiations between the vehicles is modelled as a multiplayer cooperative game. Finally, the water region search tasks performed by a team of cooperating underwater vehicles are presented and discussed taking into account possible vehicle failures happening during task realization.

Keywords
Unmanned underwater vehicles; Control; Team of vehicles; Cooperation

Hrčak ID: 219786

URI
https://hrcak.srce.hr/219786

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