Experimental validation of robotic manifold tracking in gyre-like flows

Matthew Michini, M. Ani Hsieh, Eric Forgoston, Ira B. Schwartz

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

3 Citations (Scopus)

Abstract

In this paper, we present a first attempt toward experimental validation of a multi-robot strategy for tracking manifolds and Lagrangian coherent structures (LCS) in flows. LCS exist in natural fluid flows at various scales, and they are time-varying extensions of stable and unstable manifolds of time invariant dynamical systems. In this work, we present the first steps toward experimentally validating our previously proposed real-time manifold and LCS tracking strategy that relies solely on local measurements. Although we have validated the strategy in simulations using analytical flow models, experimental flow data, and actual ocean data, the strategy has never been implemented on an actual robotic platform. We demonstrate the tracking strategy using a team of micro autonomous surface vehicles (mASVs) in our laboratory testbed and investigate the feasibility of the strategy with vehicles operating in an actual fluid environment. Our experimental results show that the team of mASVs can successfully track LCS using a simulated velocity field, and we present preliminary results showing the feasibility of a team of mASVs tracking manifolds in real flows using only local measurements obtained from their onboard flow sensors.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2306-2311
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - 1 Jan 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/09/1418/09/14

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Robotics
Testbeds
Flow of fluids
Dynamical systems
Robots
Fluids
Sensors

Cite this

Michini, M., Hsieh, M. A., Forgoston, E., & Schwartz, I. B. (2014). Experimental validation of robotic manifold tracking in gyre-like flows. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2306-2311). [6942874] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942874
Michini, Matthew ; Hsieh, M. Ani ; Forgoston, Eric ; Schwartz, Ira B. / Experimental validation of robotic manifold tracking in gyre-like flows. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2306-2311
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Michini, M, Hsieh, MA, Forgoston, E & Schwartz, IB 2014, Experimental validation of robotic manifold tracking in gyre-like flows. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942874, Institute of Electrical and Electronics Engineers Inc., pp. 2306-2311, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6942874

Experimental validation of robotic manifold tracking in gyre-like flows. / Michini, Matthew; Hsieh, M. Ani; Forgoston, Eric; Schwartz, Ira B.

IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2306-2311 6942874.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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Michini M, Hsieh MA, Forgoston E, Schwartz IB. Experimental validation of robotic manifold tracking in gyre-like flows. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2306-2311. 6942874 https://doi.org/10.1109/IROS.2014.6942874