Oceanographic pursuit: Networked control of multiple vehicles tracking dynamic ocean features
Name
Hover_Oceanographic pursuit.pdf
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2.33 MB
Format
Adobe PDF
Checksum (MD5)
bf1187aef79c7b8034f6bc759f5b495f
Author(s)
Reed, Brooks
Hover, Franz S.
Date Issued
May 2014
Journal
Methods in Oceanography
Publisher
Elsevier
Citation
Reed, Brooks, and Franz Hover. “Oceanographic Pursuit: Networked Control of Multiple Vehicles Tracking Dynamic Ocean Features.” Methods in Oceanography 10 (September 2014): 21–43.
Version
Author's final manuscript
Abstract
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.
MIT Department
Joint Program in Oceanography/Applied Ocean Science and Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
Terms of Use
Creative Commons Attribution-NonCommercial-No Derivative Works 3.0 Unported
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1016/j.mio.2014.05.001
