Collective motion, sensor networks, and ocean sampling
Leonard, Naomi Ehrich
Paley, Derek A.
Fratantoni, David M.
Davis, Russ E.
MetadataShow full item record
KeywordAdaptive sampling; Autonomous underwater vehicles; Cooperative control; Coordinated dynamics; Mobile sensor networks; Ocean sampling; Underwater gliders
This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing and prediction system. A performance metric, used to derive optimal paths for the network of mobile sensors, defines the optimal data set as one which minimizes error in a model estimate of the sampled field. Feedback control laws are presented that stably coordinate sensors on structured tracks that have been optimized over a minimal set of parameters. Optimal, closed-loop solutions are computed in a number of low-dimensional cases to illustrate the methodology. Robustness of the performance to the influence of a steady flow field on relatively slow-moving mobile sensors is also explored.
Author Posting. © IEEE, 2007. This article is posted here by permission of IEEE for personal use, not for redistribution. The definitive version was published in Proceedings of the IEEE 95 (2007): 48-74, doi:10.1109/jproc.2006.887295.
Suggested CitationProceedings of the IEEE 95 (2007): 48-74
Showing items related by title, author, creator and subject.
Eickstedt, Donald Patrick (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2006-06)In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. ...
Reed, Brooks L.; Hover, Franz S. (Elsevier, 2014-05-29)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 ...
Lewis, Matthew R. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2014-09)Underwater acoustic communication is an extremely complex field that faces many challenges due to the time-varying nature of the ocean environment. Vector sensors are a proven technology that when utilizing their directional ...