AUTONOMOUS CONTROL OF CLUSTERS OF UUVS

This paper is concenred with the development of control strategies for autonomous mission planning of a multiple Unhabitated Underwater Vehicles (UUVs) that cooperate in order to perform a number of tasks. Missions of this type include multi-agent reconnaissance and multi-agent mine sweeping problems. The mission planning problem is posed as a receding horizon mixed-integer constrained model based predictive control problem. This is subsequently partitioned into smaller subproblems and solved in a decentralised manner using a distributed Nash-based game approach. The paper presents further development of the method and gives a detailed example to demonstrate the main features of the control method and its implementation.