Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, dr...

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Bibliographic Details
Main Authors: Xianbo Xiang, Bruno Jouvencel, Olivier Parodi
Format: Article
Published: SAGE Publishing 2010-02-01
Series:International Journal of Advanced Robotic Systems
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