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dc.contributor.authorGilbertson, Eric W.
dc.contributor.authorLeighton, Joshua C.
dc.contributor.authorCheung, Mei Yi
dc.contributor.authorHover, Franz S.
dc.contributor.authorReed, Brooks
dc.date.accessioned2015-06-19T17:53:52Z
dc.date.available2015-06-19T17:53:52Z
dc.date.issued2013-05
dc.identifier.isbn978-1-4673-5643-5
dc.identifier.isbn978-1-4673-5641-1
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1721.1/97476
dc.description.abstractMarine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator channel. On the controller-actuator side we implement sparse packetized predictive control (S-PPC), which simultaneously addresses packet-loss and the data rate limit. For the sensor-controller channel we study a modified information filter (MIF) in a Linear Quadratic Gaussian (LQG) control scheme. Field experiments were carried out with both approaches, regulating crosstrack error in a robotic kayak using acomms. Outcomes with both the S-PPC and MIF LQG confirm that good performance is achievable.en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-09-1-0700)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Contract CNS-1212597)en_US
dc.description.sponsorshipFinmeccanicaen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2013.6631310en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleExperiments in dynamic control of autonomous marine vehicles using acoustic modemsen_US
dc.typeArticleen_US
dc.identifier.citationGilbertson, Eric, Brooks L. Reed, Josh Leighton, Mei Yi Cheung, and Franz S. Hover. “Experiments in Dynamic Control of Autonomous Marine Vehicles Using Acoustic Modems.” 2013 IEEE International Conference on Robotics and Automation (May 2013).en_US
dc.contributor.departmentJoint Program in Oceanography/Applied Ocean Science and Engineeringen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.departmentWoods Hole Oceanographic Institutionen_US
dc.contributor.mitauthorGilbertson, Eric W.en_US
dc.contributor.mitauthorReed, Brooksen_US
dc.contributor.mitauthorLeighton, Joshua C.en_US
dc.contributor.mitauthorCheung, Mei Yien_US
dc.contributor.mitauthorHover, Franz S.en_US
dc.relation.journalProceedings of the 2013 IEEE International Conference on Robotics and Automationen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsGilbertson, Eric; Reed, Brooks L.; Leighton, Josh; Cheung, Mei Yi; Hover, Franz S.en_US
dc.identifier.orcidhttps://orcid.org/0000-0002-2621-7633
dc.identifier.orcidhttps://orcid.org/0000-0002-3138-7346
mit.licenseOPEN_ACCESS_POLICYen_US


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