FORMATION CONTROL OF MULTI AGENT SYSTEMS FOR MARITIME SEARCH AND RESCUE

Abstract

This thesis is a study of the coordinated movement of three autonomous marine vehicles (AMVs) working as a group to achieve a formation inspired by the Victor Sierra search pattern. This uses the concept of Multi Agent System (MAS) which draws its advantages from the capability possessed by each individual agent to make decisions, respond to external environmental changes and communicate with other nearby agents. When many such agents are made to operate together as a system, the network shows increased robustness to tackle unanticipated disturbances and increased efficiency of reaching the collective task objective. Such advantages promote the usage of MAS in wide variety of applications, both civil and military, and has become an increasingly popular field of research. Maritime search and rescue operations rely on efficient coordination and collaboration among multiple agents to maximize coverage and minimize response times. The proposed formation of AMVs aims to replicate the systematic and methodical approach of the Victor Sierra search pattern, adapted to the unique characteristics of the marine environment using three specific control laws, namely, consensus, splay formation & collective circular motion with common radius. Each AMV operates autonomously, equipped with sensors, navigation systems, and communication capabilities continuously switching from one control law to the next in order to complete the required formation. Coordinated control strategies are employed to facilitate real-time communication, decision-making, and synchronized movements among the AMVs.