Abstract
The article presents the control system of a single underwater vehicle which is a member of the underwater vehicles team. The application of the multi-agent system concept for modelling and controlling a team of homogeneous underwater vehicles is discussed. Issues relating to cooperation actions in the team of underwater vehicles are described and solved using the theory of games and vector quality index. The process of negotiations between the vehicles is modelled as a multiplayer cooperative game. Finally, the water region search tasks performed by a team of cooperating underwater vehicles are presented and discussed taking into account possible vehicle failures happening during task realization.
Highlights
In the underwater robotics concepts are developed in which a team of unmanned underwater vehicles performs specific tasks
The most common ones are: search, inspection, and recognition, which can be performed by a single robot, whereby a team of vehicles can perform them faster and more efficiently
The team of cooperating underwater vehicles has many advantages, such as high resistance to damage that allows the task to be performed in the event of failure of one of the robots, or the possibility of using vehicles with a much simpler structure due to the decomposition of the task
Summary
In the underwater robotics concepts are developed in which a team of unmanned underwater vehicles performs specific tasks. Among these tasks, the most common ones are: search, inspection, and recognition, which can be performed by a single robot, whereby a team of vehicles can perform them faster and more efficiently. The problem of controlling a team of cooperating underwater vehicles is a more difficult issue than controlling a single vehicle. In this case, it is required to consider for example: communication between vehicles, coordination of activities, or conducting negotiations. The mechanism of multi-agent systems can be used to control a team of cooperating underwater vehicles, treating each of them as a separate agent
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