Control of contour formations of autonomous vehicles by general curve evolution Theory

Shahab Kalantar; Uwe R. Zimmer

Control of contour formations of autonomous vehicles by general curve evolution Theory

Shahab Kalantar^*, Uwe R. Zimmer

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, we introduce the concept of a contour- shaped formation of autonomous underwater vehicles for the purpose of adaptation to isoclines of environmental fields created as a result of diffusion of chemicals. General curvature-driven curve evolution theory is used as a continuum model for such formations. A collection of robots can act as markers on an imaginary curve moving according to the local curvature and the external environmental force projected unto the normal to the curve. Basic control rules are given, and various strategies for implementation of the scheme are explored. Algorithms are discussed for formation initialization, and simulation runs are presented to demonstrate the behaviour of these types of formations.

Original language	English
Title of host publication	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
Publication status	Published - 2005
Event	2005 Australian Conference on Robotics and Automation, ACRA 2005 - Sydney, NSW, Australia Duration: 5 Dec 2005 → 7 Dec 2005

Publication series

Name	Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005

Conference

Conference	2005 Australian Conference on Robotics and Automation, ACRA 2005
Country/Territory	Australia
City	Sydney, NSW
Period	5/12/05 → 7/12/05

Cite this

@inproceedings{d55013b36d604b99b9f1179e8427972d,

title = "Control of contour formations of autonomous vehicles by general curve evolution Theory",

abstract = "In this paper, we introduce the concept of a contour- shaped formation of autonomous underwater vehicles for the purpose of adaptation to isoclines of environmental fields created as a result of diffusion of chemicals. General curvature-driven curve evolution theory is used as a continuum model for such formations. A collection of robots can act as markers on an imaginary curve moving according to the local curvature and the external environmental force projected unto the normal to the curve. Basic control rules are given, and various strategies for implementation of the scheme are explored. Algorithms are discussed for formation initialization, and simulation runs are presented to demonstrate the behaviour of these types of formations.",

author = "Shahab Kalantar and Zimmer, {Uwe R.}",

year = "2005",

language = "English",

isbn = "0958758379",

series = "Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005",

booktitle = "Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005",

note = "2005 Australian Conference on Robotics and Automation, ACRA 2005 ; Conference date: 05-12-2005 Through 07-12-2005",

}

Kalantar, S & Zimmer, UR 2005, Control of contour formations of autonomous vehicles by general curve evolution Theory. in Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005. Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005, 2005 Australian Conference on Robotics and Automation, ACRA 2005, Sydney, NSW, Australia, 5/12/05.

Control of contour formations of autonomous vehicles by general curve evolution Theory. / Kalantar, Shahab; Zimmer, Uwe R.
Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005. 2005. (Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Zimmer, Uwe R.

PY - 2005

Y1 - 2005

N2 - In this paper, we introduce the concept of a contour- shaped formation of autonomous underwater vehicles for the purpose of adaptation to isoclines of environmental fields created as a result of diffusion of chemicals. General curvature-driven curve evolution theory is used as a continuum model for such formations. A collection of robots can act as markers on an imaginary curve moving according to the local curvature and the external environmental force projected unto the normal to the curve. Basic control rules are given, and various strategies for implementation of the scheme are explored. Algorithms are discussed for formation initialization, and simulation runs are presented to demonstrate the behaviour of these types of formations.

AB - In this paper, we introduce the concept of a contour- shaped formation of autonomous underwater vehicles for the purpose of adaptation to isoclines of environmental fields created as a result of diffusion of chemicals. General curvature-driven curve evolution theory is used as a continuum model for such formations. A collection of robots can act as markers on an imaginary curve moving according to the local curvature and the external environmental force projected unto the normal to the curve. Basic control rules are given, and various strategies for implementation of the scheme are explored. Algorithms are discussed for formation initialization, and simulation runs are presented to demonstrate the behaviour of these types of formations.

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M3 - Conference contribution

SN - 0958758379

SN - 9780958758376

T3 - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005

BT - Proceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005

T2 - 2005 Australian Conference on Robotics and Automation, ACRA 2005

Y2 - 5 December 2005 through 7 December 2005

ER -

Control of contour formations of autonomous vehicles by general curve evolution Theory

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