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2012.4.10 / Conference paper
Triangular formation control using range measurements: An application to marine robotic vehicles
This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements.
3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2012) / 2012.04.10 / Porto, Portugal
Jorge M. Soares , A. Pedro Aguiar, António M. Pascoal, Marco Gallieri