Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning

• Published in: IEEE/CAA journal of automatica sinica Vol. 10; no. 1; pp. 159 - 176
• Main Authors: Cao, Wenqiang, Yan, Jing, Yang, Xian, Luo, Xiaoyuan, Guan, Xinping
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China%Institute of Information Science and Engineering,Yanshan University,Qinhuangdao 066004,China%Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China
• Subjects: Autonomous underwater vehicles; Autonomous underwater vehicles (AUVs); Channel estimation; Collocation methods; Communication; communication-aware; Controllers; Design optimization; Fading; Fading channels; formation; Fractional factorial design; Machine learning; Mathematical models; Parameters; Probabilistic logic; Reinforcement learning; Signal to noise ratio; Technological innovation; Uncertainty; commu-nication-aware; formation; uncertainty; Autonomous underwater vehicles (AUVs); reinforcement learning

Most formation approaches of autonomous underwater vehicles (AUVs) focus on the control techniques, ignoring the influence of underwater channel. This paper is concerned with a communication-aware formation issue for AUVs, subject to model uncertainty and fading channel. An integral reinforcement le...