Abstract
Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds. The technique does not require global information about the fluid dynamics, and is based on local sensing, prediction, and correction. The collaborative control strategy is implemented on a team of three robots to track coherent structures and manifolds on static flows as well as a noisy time-dependent model of a wind-driven double-gyre often seen in the ocean. We present simulation and experimental results and discuss theoretical guarantees of the collaborative tracking strategy.
| Original language | English |
|---|---|
| Title of host publication | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4242-4247 |
| Number of pages | 6 |
| ISBN (Print) | 9781467314039 |
| DOIs | |
| State | Published - 1 Jan 2012 |
| Event | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 14 May 2012 → 18 May 2012 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Other
| Other | 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 |
|---|---|
| Country | United States |
| City | Saint Paul, MN |
| Period | 14/05/12 → 18/05/12 |
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Robotic manifold tracking of coherent structures in flows. / Hsieh, M. Ani; Forgoston, Eric; Mather, T. William; Schwartz, Ira B.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 4242-4247 6224769 (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review
TY - GEN
T1 - Robotic manifold tracking of coherent structures in flows
AU - Hsieh, M. Ani
AU - Forgoston, Eric
AU - Mather, T. William
AU - Schwartz, Ira B.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds. The technique does not require global information about the fluid dynamics, and is based on local sensing, prediction, and correction. The collaborative control strategy is implemented on a team of three robots to track coherent structures and manifolds on static flows as well as a noisy time-dependent model of a wind-driven double-gyre often seen in the ocean. We present simulation and experimental results and discuss theoretical guarantees of the collaborative tracking strategy.
AB - Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds. The technique does not require global information about the fluid dynamics, and is based on local sensing, prediction, and correction. The collaborative control strategy is implemented on a team of three robots to track coherent structures and manifolds on static flows as well as a noisy time-dependent model of a wind-driven double-gyre often seen in the ocean. We present simulation and experimental results and discuss theoretical guarantees of the collaborative tracking strategy.
UR - http://www.scopus.com/inward/record.url?scp=84864448333&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224769
DO - 10.1109/ICRA.2012.6224769
M3 - Conference contribution
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4242
EP - 4247
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
ER -