Robotic manifold tracking of coherent structures in flows

M. Ani Hsieh; Eric Forgoston; T. William Mather; Ira B. Schwartz

doi:10.1109/ICRA.2012.6224769

Robotic manifold tracking of coherent structures in flows

M. Ani Hsieh, Eric Forgoston, T. William Mather, Ira B. Schwartz

Applied Mathematics and Statistics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

28 Scopus citations

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	https://doi.org/10.1109/ICRA.2012.6224769
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

Access to Document

10.1109/ICRA.2012.6224769

Link to publication in Scopus

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Hsieh, M. A., Forgoston, E., Mather, T. W., & Schwartz, I. B. (2012). Robotic manifold tracking of coherent structures in flows. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4242-4247). [6224769] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224769

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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.",

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Hsieh, MA, Forgoston, E, Mather, TW & Schwartz, IB 2012, Robotic manifold tracking of coherent structures in flows. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224769, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4242-4247, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224769

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

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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.

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Hsieh MA, Forgoston E, Mather TW, Schwartz IB. Robotic manifold tracking of coherent structures in flows. In 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). https://doi.org/10.1109/ICRA.2012.6224769