Distributed allocation of mobile sensing swarms in gyre flows

K. Mallory, M. A. Hsieh, Eric Forgoston, I. B. Schwartz

Research output: Contribution to journalArticleResearchpeer-review

21 Citations (Scopus)

Abstract

We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a "map" of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. 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 discuss the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.

Original languageEnglish
Pages (from-to)657-668
Number of pages12
JournalNonlinear Processes in Geophysics
Volume20
Issue number5
DOIs
StatePublished - 4 Oct 2013

Fingerprint

gyre
sensor
fluid dynamics
ocean models
sensors
Sensors
spatial distribution
Fluid dynamics
Testbeds
robots
Spatial distribution
allocation
ocean
Robots
policy
synthesis

Cite this

Mallory, K. ; Hsieh, M. A. ; Forgoston, Eric ; Schwartz, I. B. / Distributed allocation of mobile sensing swarms in gyre flows. In: Nonlinear Processes in Geophysics. 2013 ; Vol. 20, No. 5. pp. 657-668.
@article{dfa45f043cc74ab7995e52a573d7fdeb,
title = "Distributed allocation of mobile sensing swarms in gyre flows",
abstract = "We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a {"}map{"} of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. 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 discuss the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.",
author = "K. Mallory and Hsieh, {M. A.} and Eric Forgoston and Schwartz, {I. B.}",
year = "2013",
month = "10",
day = "4",
doi = "10.5194/npg-20-657-2013",
language = "English",
volume = "20",
pages = "657--668",
journal = "Nonlinear Processes in Geophysics",
issn = "1023-5809",
publisher = "European Geosciences Union",
number = "5",

}

Distributed allocation of mobile sensing swarms in gyre flows. / Mallory, K.; Hsieh, M. A.; Forgoston, Eric; Schwartz, I. B.

In: Nonlinear Processes in Geophysics, Vol. 20, No. 5, 04.10.2013, p. 657-668.

Research output: Contribution to journalArticleResearchpeer-review

TY - JOUR

T1 - Distributed allocation of mobile sensing swarms in gyre flows

AU - Mallory, K.

AU - Hsieh, M. A.

AU - Forgoston, Eric

AU - Schwartz, I. B.

PY - 2013/10/4

Y1 - 2013/10/4

N2 - We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a "map" of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. 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 discuss the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.

AB - We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a "map" of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. 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 discuss the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.

UR - http://www.scopus.com/inward/record.url?scp=84884761540&partnerID=8YFLogxK

U2 - 10.5194/npg-20-657-2013

DO - 10.5194/npg-20-657-2013

M3 - Article

VL - 20

SP - 657

EP - 668

JO - Nonlinear Processes in Geophysics

JF - Nonlinear Processes in Geophysics

SN - 1023-5809

IS - 5

ER -