|Title||Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling |
|Publication Type||Conference Paper |
|Year of Publication||2017 |
|Conference Name||MTS/IEEE Oceans 2017 |
|Authors||Fabbri, T, Simetti, E, Casalino, G, Pallottino, L, Caiti, A |
|Conference Location||Aberdeen, 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 Designation||Refereed |