An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows

Matthew Michini; Kenneth Mallory; Dennis Larkin; M. Ani Hsieh; Eric Forgoston; Philip A. Yecko

doi:10.1115/DSCC2013-3745

An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows

Matthew Michini, Kenneth Mallory, Dennis Larkin, M. Ani Hsieh, Eric Forgoston, Philip A. Yecko

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, we describe the development of an experimental testbed capable of producing controllable ocean-like flows in a laboratory setting. The objective is to develop a testbed to evaluate multi-robot strategies for tracking manifolds and Lagrangian coherent structures (LCS) in the ocean. Recent theoretical results have shown that LCS coincide with minimum energy and minimum time optimal paths for autonomous vehicles in the ocean. Furthermore, knowledge of these structures enables the prediction and estimation of the underlying fluid dynamics. The testbed is a scaled flow tank capable of generating complex and controlled quasi-2D flow fields that exhibit wind-driven doublegyre flows. Particle image velocimetry (PIV) is used to extract the 2D surface velocities and the data is then processed to verify the existence of manifolds and Lagrangian coherent structures in the flow. The velocity data is then used to evaluate our previously proposed multi-robot LCS tracking strategy in simulation.

Original language	English
Title of host publication	Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Print)	9780791856130
DOIs	https://doi.org/10.1115/DSCC2013-3745
State	Published - 2013
Event	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States Duration: 21 Oct 2013 → 23 Oct 2013

Publication series

Name	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume	2

Other

Other	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Country/Territory	United States
City	Palo Alto, CA
Period	21/10/13 → 23/10/13

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10.1115/DSCC2013-3745

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Michini, M., Mallory, K., Larkin, D., Hsieh, M. A., Forgoston, E., & Yecko, P. A. (2013). An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows. In Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Article DSCC2013-3745 (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 2). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3745

Michini, Matthew ; Mallory, Kenneth ; Larkin, Dennis et al. / An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows. Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME), 2013. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013).

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title = "An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows",

abstract = "In this paper, we describe the development of an experimental testbed capable of producing controllable ocean-like flows in a laboratory setting. The objective is to develop a testbed to evaluate multi-robot strategies for tracking manifolds and Lagrangian coherent structures (LCS) in the ocean. Recent theoretical results have shown that LCS coincide with minimum energy and minimum time optimal paths for autonomous vehicles in the ocean. Furthermore, knowledge of these structures enables the prediction and estimation of the underlying fluid dynamics. The testbed is a scaled flow tank capable of generating complex and controlled quasi-2D flow fields that exhibit wind-driven doublegyre flows. Particle image velocimetry (PIV) is used to extract the 2D surface velocities and the data is then processed to verify the existence of manifolds and Lagrangian coherent structures in the flow. The velocity data is then used to evaluate our previously proposed multi-robot LCS tracking strategy in simulation.",

author = "Matthew Michini and Kenneth Mallory and Dennis Larkin and Hsieh, {M. Ani} and Eric Forgoston and Yecko, {Philip A.}",

year = "2013",

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series = "ASME 2013 Dynamic Systems and Control Conference, DSCC 2013",

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booktitle = "Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;",

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Michini, M, Mallory, K, Larkin, D, Hsieh, MA, Forgoston, E & Yecko, PA 2013, An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows. in Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;., DSCC2013-3745, ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, vol. 2, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 21/10/13. https://doi.org/10.1115/DSCC2013-3745

An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows. / Michini, Matthew; Mallory, Kenneth; Larkin, Dennis et al.
Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME), 2013. DSCC2013-3745 (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we describe the development of an experimental testbed capable of producing controllable ocean-like flows in a laboratory setting. The objective is to develop a testbed to evaluate multi-robot strategies for tracking manifolds and Lagrangian coherent structures (LCS) in the ocean. Recent theoretical results have shown that LCS coincide with minimum energy and minimum time optimal paths for autonomous vehicles in the ocean. Furthermore, knowledge of these structures enables the prediction and estimation of the underlying fluid dynamics. The testbed is a scaled flow tank capable of generating complex and controlled quasi-2D flow fields that exhibit wind-driven doublegyre flows. Particle image velocimetry (PIV) is used to extract the 2D surface velocities and the data is then processed to verify the existence of manifolds and Lagrangian coherent structures in the flow. The velocity data is then used to evaluate our previously proposed multi-robot LCS tracking strategy in simulation.

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Michini M, Mallory K, Larkin D, Hsieh MA, Forgoston E, Yecko PA. An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows. In Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME). 2013. DSCC2013-3745. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013). doi: 10.1115/DSCC2013-3745

An experimental testbed for multi-robot tracking of manifolds and coherent structures in flows

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