Robotic manifold tracking of coherent structures in flows

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4242-4247
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - 1 Jan 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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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