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A verified hierarchical control architecture for co-ordinated multi-vehicle ope...

A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulations with accurat...

Motion Control of Coordinated Systems

Coordinated control of networked vehicles : an autonomous underwater system

The specification and design of coordinated control strategies for networked vehicle systems are discussed. The discussion is illustrated with an example of the coordinated operation of two teams of autonomous underwater vehicles collecting data to find the local minimum of a given oceanographic scalar field.

Relatório da Comissão Estratégica dos Oceanos : Parte II, Análise e Propostas

O presente documento que encerra a Parte II do Relatório não é um documento exaustivo sobre todos os assuntos relativos ao Oceano. Apesar de constituir um repositório de informação, e mesmo de conhecimento de referência para a gestão dos assuntos do Oceano, o seu conteúdo encontra-se em aberto e em permanente evolução, cabendo no futuro a outros mecanismos ou entidades actualizar e continuar a trabalhar esta "m...

Hierarchical control architecture for mobile offshore bases

A hierarchical architecture for Mobile Offshore Bases (MOB) control is presented. By a control architecture we mean a specific way of organizing the motion control and navigation functions performed by the MOB. It is convenient to organize the functions into hierarchical layers. This way, a complex design problem is partitioned into a number of more manageable sub-problems that are addressed in separate layers....

A new optimization based approach to experimental combination chemotherapy

A new approach towards the design of optimal multiple drug experimental cancer chemotherapy is presented. Once an adequate model is specified, an optimization procedure is used in order to achieve an optimal compromise between after treatment tumor size and toxic effects on healthy tissues. In our approach we consider a model including cancer cell population growth and pharmacokinetic dynamics. These elements o...