Cooperative Path Planning for Networked Gliders Under Weak Communication
文献类型：会议论文
| 作者 | Liu SJ(刘世杰) ; Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民)
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| 出版日期 | 2014 |
| 会议名称 | 9th ACM International Conference on Underwater Networks and Systems |
| 会议日期 | November 12-14, 2014 |
| 会议地点 | Rome, Italy |
| 关键词 | Underwater Glider path planning cooperation SVDD fast marching |
| 页码 | 1-5 |
| 中文摘要 | This paper presents a distributed approach for cooperative path planning for underwater gliders to avoid regions with strong ocean flow. A key requirement for underwater glider operation is to reduce the amount of information that needs to be shared among gliders over communication links. For this purpose, the proposed approach employs the support vector data description method to form a compressed representation of the high flow region that gliders should avoid. A fast marching algorithm is then developed to use the com- pressed information shared by gliders. Simulation results show that the quality of the planned path based on the compressed information is comparable to the case when full information of flow would have been shared. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 9th ACM International Conference on Underwater Networks and Systems, WUWNET 2014
 |
| 会议录出版者 | ACM |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4503-3277-4 |
| 源URL | [http://ir.sia.cn/handle/173321/15309]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Liu SJ,Yu JC,Zhang AQ,et al. Cooperative Path Planning for Networked Gliders Under Weak Communication[C]. 见:9th ACM International Conference on Underwater Networks and Systems. Rome, Italy. November 12-14, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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