MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Oceanographic pursuit: Networked control of multiple vehicles tracking dynamic ocean features

Author(s)
Reed, Brooks; Hover, Franz S.
Thumbnail
DownloadHover_Oceanographic pursuit.pdf (2.330Mb)
PUBLISHER_CC

Publisher with Creative Commons License

Creative Commons Attribution

Terms of use
Creative Commons Attribution-NonCommercial-No Derivative Works 3.0 Unported http://creativecommons.org/licenses/by-nc-nd/3.0/
Metadata
Show full item record
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.
Date issued
2014-05
URI
http://hdl.handle.net/1721.1/97477
Department
Joint Program in Oceanography/Applied Ocean Science and Engineering; Massachusetts Institute of Technology. Department of Mechanical Engineering; Woods Hole Oceanographic Institution
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
ISSN
22111220

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.