TitleDistributed Task-priority Based Control in Area Coverage & Adaptive Sampling
Publication TypeConference Paper
Year of Publication2017
Conference NameMTS/IEEE Oceans 2017
AuthorsFabbri, T, Simetti, E, Casalino, G, Pallottino, L, Caiti, A
Conference LocationAberdeen, Scotland, June 2017

The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.

Refereed DesignationRefereed
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