Oceanographic pursuit : networked control of multiple vehicles tracking dynamic ocean features
MetadataShow full item record
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.
Suggested CitationMethods in Oceanography 10 (2015): 21–43
The following license files are associated with this item:
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivs 3.0 Unported
Showing items related by title, author, creator and subject.
Petillo, Stephanie M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2015-02)The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment ...
Zhang, Yanwu (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2000-06)The thesis develops and demonstrates methods of classifying ocean processes using an underwater moving platform such as an Autonomous Underwater Vehicle (AUV). The "mingled spectrum principle" is established which concisely ...
Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment Hajosy, Michael F. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1994-09)Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of ...