TY - GEN
T1 - Exploiting Stochasticity for the Control of Transitions in Gyre Flows
AU - Kularatne, Dhanushka
AU - Forgoston, Eric
AU - Hsieh, M. Ani
N1 - Funding Information:
This work was supported by the Office of Naval Research (ONR) grant N000141712690 and the National Science Foundation (NSF) grants CMMI 1462825 and IIS 1253917.
Publisher Copyright:
© 2018, MIT Press Journals. All rights reserved.
PY - 2018
Y1 - 2018
N2 - We present a control strategy to control the inter-gyre switching time of an agent operating in a gyre flow. The proposed control strategy exploits the stochasticity of the underlying environment to affect inter-gyre transitions. We show how control can be used to enhance or abate the mean escape time and present a strategy to achieve a desired mean escape time. We show that the proposed control strategy can achieve any desired escape time in an interval governed by the maximum available control. We demonstrate the effectiveness of the strategy in simulations.
AB - We present a control strategy to control the inter-gyre switching time of an agent operating in a gyre flow. The proposed control strategy exploits the stochasticity of the underlying environment to affect inter-gyre transitions. We show how control can be used to enhance or abate the mean escape time and present a strategy to achieve a desired mean escape time. We show that the proposed control strategy can achieve any desired escape time in an interval governed by the maximum available control. We demonstrate the effectiveness of the strategy in simulations.
UR - https://www.scopus.com/pages/publications/85066792930
U2 - 10.15607/RSS.2018.XIV.060
DO - 10.15607/RSS.2018.XIV.060
M3 - Conference contribution
AN - SCOPUS:85066792930
SN - 9780992374747
T3 - Robotics: Science and Systems
BT - Robotics
A2 - Kress-Gazit, Hadas
A2 - Srinivasa, Siddhartha S.
A2 - Howard, Tom
A2 - Atanasov, Nikolay
PB - Massachusetts Institute of Technology
T2 - 14th Robotics: Science and Systems, RSS 2018
Y2 - 26 June 2018 through 30 June 2018
ER -