Cooperative Skills

Here, only a very short overview of selected contributions during year 2 of the project is given. Please check the publications for more detailed info.

Among others, a contribution in the context of coordinated adaptive area coverage was made, which addresses the problem of area coverage by a team of Autonomous Underwater Vehicle. The case addressed is the one in which the area map is not known in advance but adaptively estimated on-line by the vehicles themselves as they move along the area. The approach is distributed, i.e., the vehicles in the team exchange information among themselves and autonomously take individual decisions on where to move next on the basis of the available information. Communication constraints among the vehicles, in terms of communication range and bandwidth, are explicitly taken into account by the algorithm, and can be dependent by the spatial position in the covered area.

Fig 1: A sketch representing an adaptive cooperative sampling and a bidimensional representation of the field to be sampled.

In multiple robotic system, the deployment problem consists in the optimal placement of the robots within a given environment. For this purpose, a fully decentralized strategy, based on the so called Null-Spacebased Behavioral control is proposed. The chosen behavioral approach allows to handle the eventual presence of obstacles in the environment in a task-priority fashion thus surmounting mono-task classical approaches. The research contribution in the coordinated patrolling activity during this working period has focused on two main aspects: i) develop distributed algorithms for distributed task assignment among the vehicles during the patrolling, and ii) develop cooperative control law that guarantee containment in a leader follower scenario.

Fig 2: A deployment case study with five vehicles.