@inproceedings{70469996d6514ff8a90c15b110b3c159,
title = "Distributed allocation of mobile sensing agents in geophysical flows",
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.",
keywords = "(Under)water vehicles, Autonomous systems, Cooperative control",
author = "Hsieh, {M. Ani} and Kenneth Mallory and Eric Forgoston and Schwartz, {Ira B.}",
year = "2014",
month = jan,
day = "1",
doi = "10.1109/ACC.2014.6859084",
language = "English",
isbn = "9781479932726",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "165--171",
booktitle = "2014 American Control Conference, ACC 2014",
note = "null ; Conference date: 04-06-2014 Through 06-06-2014",
}