Abstract
We address the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment. Geophysical flows are natural large-scale fluidic environments such as oceans, eddies, jets, and rivers. In this work, we assume the agents have a 'map' of the fluidic environment consisting of the locations of the Lagrangian coherent structures (LCS). LCS are time-dependent structures that divide the flow into dynamically distinct regions, and are time-dependent extensions of stable and unstable manifolds. Using this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We validate the proposed control strategy using flow fields given by: 1) an analytical time-varying wind-driven multi-gyre flow model, 2) actual flow data generated using our coherent structure experimental testbed, and 3) ocean data provided by the Navy Coastal Ocean Model (NCOM) database.
| Original language | English |
|---|---|
| Title of host publication | 2014 American Control Conference, ACC 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 165-171 |
| Number of pages | 7 |
| ISBN (Print) | 9781479932726 |
| DOIs | |
| State | Published - 1 Jan 2014 |
| Event | 2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: 4 Jun 2014 → 6 Jun 2014 |
Other
| Other | 2014 American Control Conference, ACC 2014 |
|---|---|
| Country | United States |
| City | Portland, OR |
| Period | 4/06/14 → 6/06/14 |
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Keywords
- (Under)water vehicles
- Autonomous systems
- Cooperative control
Cite this
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Distributed allocation of mobile sensing agents in geophysical flows. / Hsieh, M. Ani; Mallory, Kenneth; Forgoston, Eric; Schwartz, Ira B.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 165-171 6859084.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review
TY - GEN
T1 - Distributed allocation of mobile sensing agents in geophysical flows
AU - Hsieh, M. Ani
AU - Mallory, Kenneth
AU - Forgoston, Eric
AU - Schwartz, Ira B.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - We address the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment. Geophysical flows are natural large-scale fluidic environments such as oceans, eddies, jets, and rivers. In this work, we assume the agents have a 'map' of the fluidic environment consisting of the locations of the Lagrangian coherent structures (LCS). LCS are time-dependent structures that divide the flow into dynamically distinct regions, and are time-dependent extensions of stable and unstable manifolds. Using this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We validate the proposed control strategy using flow fields given by: 1) an analytical time-varying wind-driven multi-gyre flow model, 2) actual flow data generated using our coherent structure experimental testbed, and 3) ocean data provided by the Navy Coastal Ocean Model (NCOM) database.
AB - We address the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment. Geophysical flows are natural large-scale fluidic environments such as oceans, eddies, jets, and rivers. In this work, we assume the agents have a 'map' of the fluidic environment consisting of the locations of the Lagrangian coherent structures (LCS). LCS are time-dependent structures that divide the flow into dynamically distinct regions, and are time-dependent extensions of stable and unstable manifolds. Using this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We validate the proposed control strategy using flow fields given by: 1) an analytical time-varying wind-driven multi-gyre flow model, 2) actual flow data generated using our coherent structure experimental testbed, and 3) ocean data provided by the Navy Coastal Ocean Model (NCOM) database.
KW - (Under)water vehicles
KW - Autonomous systems
KW - Cooperative control
UR - http://www.scopus.com/inward/record.url?scp=84905695988&partnerID=8YFLogxK
U2 - 10.1109/ACC.2014.6859084
DO - 10.1109/ACC.2014.6859084
M3 - Conference contribution
SN - 9781479932726
SP - 165
EP - 171
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -