Robust Control of a Platoon of Underwater Autonomous Vehicles

摘要

Autonomous underwater vehicles (AUVs) have become valuable for military,commercial and scientific purposes.For example,AUVs were used to search 3.5 million square meters of shallow water for mines in Operation Enduring Freedom in Iraq in 2003.Presently,most AUVs are independently deployed and controlled.Acoustic communication bandwidth limitations on control and navigation,and the magnitude of human supervision required make it difficult to employ large numbers of independent AUVs to acquire high-resolution data from large areas in a reasonable time period.