Fabbri, T., et al. "Distributed Task-priority Based Control in Area Coverage & Adaptive Sampling.", OCEANS 2016 MTS/IEEE Aberdeen. IEEE, 2017.

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The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.