A REACH SET MPC SCHEME FOR THE COOPERATIVE CONTROL OF AUTONOMOUS UNDERWATER VEHICLES
Rui Gomes, Fernando Lobo Pereira
A Model Predictive Control (MPC) based architecture is discussed to address the problem of the coordinated control of Autonomous Underwater Vehicles in an environment in which not only the acoustic communications and perturbations impose formidable challenges but also other two important classes of issues are considered: (i) unexpected emergence of obstacles, and (ii) severe onboard computation constraints. The later aspect is discussed by a novel implementation of the MPC scheme - the Reach Set MPC - whose underlying formal framework is briefly outlined. Finally some simulation results are presented.