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题名: Cooperative Path Planning for Networked Gliders Under Weak Communication
作者: Liu SJ(刘世杰) ; Yu JC(俞建成) ; Zhang AQ(张艾群) ; Zhang FM(张福民)
作者部门: 水下机器人研究室
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
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
出版日期: 2014
页码: 1-5
收录类别: EI
ISBN号: 978-1-4503-3277-4
关键词: Underwater Glider ; path planning ; cooperation ; SVDD ; fast marching
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15309
Appears in Collections:水下机器人研究室_会议论文

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