Oceanographic pursuit : networked control of multiple vehicles tracking dynamic ocean features
Reed, Brooks L.
Hover, Franz S.
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KeywordAutonomous underwater vehicles; Collaborative control; Feature tracking; Ensemble forecasts; Linearization; System identification
We present an integrated framework for joint estimation and pursuit of dynamic features in the ocean, over large spatial scales and with multiple collaborating vehicles relying on limited communications. Our approach uses ocean model predictions to design closed-loop networked control at short time scales, and the primary innovation is to represent model uncertainty via a projection of ensemble forecasts into local linearized vehicle coordinates. Based on this projection, we identify a stochastic linear time-invariant model for estimation and control design. The methodology accurately decomposes spatial and temporal variations, exploits coupling between sites along the feature, and allows for advanced methods in communication-constrained control. Simulations with three example datasets successfully demonstrate the proof-of-concept.
© The Author(s), 2014. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Methods in Oceanography 10 (2015): 21–43, doi:10.1016/j.mio.2014.05.001.
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