Distributed approach based on a Newton-type method for solving the fast formation problems is applied to a group of autonomous underwater vehicles (AUVs). The approach utilizes a modified Jacobi algorithm based on local position data to approximate the Newton direction. Using the proposed approach, all AUVs rapidly achieve the desired formation from any initial configuration and initial position in both static and dynamic formation scenarios.
See video of the AUVs in action here
Autonomous Underwater Vehicles are also used in Environmental Applications and Subsea Engineering.
(1) Inspection of underwater oil/gas pipelines.
(2) Collection of offshore environmental data, such as pollutants concentration, fish ecosystem monitoring, security, …
See relevant video here
