Distributed allocation of mobile sensing agents in geophysical flows

M. Ani Hsieh, Kenneth Mallory, Eric Forgoston, Ira B. Schwartz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages165-171
Number of pages7
ISBN (Print)9781479932726
DOIs
StatePublished - 1 Jan 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 4 Jun 20146 Jun 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period4/06/146/06/14

Fingerprint

Fluidics
Fluid dynamics
Testbeds
Spatial distribution
Flow fields
Rivers

Keywords

  • (Under)water vehicles
  • Autonomous systems
  • Cooperative control

Cite this

Hsieh, M. A., Mallory, K., Forgoston, E., & Schwartz, I. B. (2014). Distributed allocation of mobile sensing agents in geophysical flows. In 2014 American Control Conference, ACC 2014 (pp. 165-171). [6859084] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6859084
Hsieh, M. Ani ; Mallory, Kenneth ; Forgoston, Eric ; Schwartz, Ira B. / Distributed allocation of mobile sensing agents in geophysical flows. 2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 165-171 (Proceedings of the American Control Conference).
@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 = "1",
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",

}

Hsieh, MA, Mallory, K, Forgoston, E & Schwartz, IB 2014, Distributed allocation of mobile sensing agents in geophysical flows. in 2014 American Control Conference, ACC 2014., 6859084, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 165-171, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 4/06/14. https://doi.org/10.1109/ACC.2014.6859084

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 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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

AN - SCOPUS:84905695988

SN - 9781479932726

T3 - Proceedings of the American Control Conference

SP - 165

EP - 171

BT - 2014 American Control Conference, ACC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Hsieh MA, Mallory K, Forgoston E, Schwartz IB. Distributed allocation of mobile sensing agents in geophysical flows. In 2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 165-171. 6859084. (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2014.6859084