Distributed Allocation of Mobile Sensing Agents in Geophysical Flows
Document Type
Conference Proceeding
Publication Date
1-1-2014
Abstract
We address the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment. Geophysical flows are natural large-scale fluidic environments such as oceans, eddies, jets, and rivers. In this work, we assume the agents have a 'map' of the fluidic environment consisting of the locations of the Lagrangian coherent structures (LCS). LCS are time-dependent structures that divide the flow into dynamically distinct regions, and are time-dependent extensions of stable and unstable manifolds. Using this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We validate the proposed control strategy using flow fields given by: 1) an analytical time-varying wind-driven multi-gyre flow model, 2) actual flow data generated using our coherent structure experimental testbed, and 3) ocean data provided by the Navy Coastal Ocean Model (NCOM) database.
DOI
10.1109/ACC.2014.6859084
MSU Digital Commons Citation
Hsieh, M. Ani; Mallory, Kenneth; Forgoston, Eric; and Schwartz, Ira B., "Distributed Allocation of Mobile Sensing Agents in Geophysical Flows" (2014). Department of Applied Mathematics and Statistics Faculty Scholarship and Creative Works. 42.
https://digitalcommons.montclair.edu/appliedmath-stats-facpubs/42
Published Citation
Hsieh, M. A., Mallory, K., Forgoston, E., & Schwartz, I. B. (2014, June). Distributed allocation of mobile sensing agents in geophysical flows. In 2014 American Control Conference (pp. 165-171). IEEE.