Multi-AUV control and adaptive sampling in Monterey Bay

IEEE Journal of Oceanic Engineering

Volumn 31, Issue 4, 2006, Pages 935-948

  Fiorelli, Edward ^a,e   Leonard, Naomi Ehrich ^a   Bhatta, Pradeep ^b   Paley, Derek A ^a   Bachmayer, Ralf ^c   Fratantoni, David M ^d  

^a Princeton University   (United States)

^b Princeton Satellite Systems Inc   (United States)

^c NATIONAL RESEARCH COUNCIL CANADA   (Canada)

^d WOODS HOLE OCEANOGRAPHIC INSTITUTION   (United States)

^e Remote Sensing and Surveillance Group   (United States)

Author keywords

Adaptive sampling; Autonomous underwater vehicles (AUVs); Cooperative control; Formations; Gradient climbing; Underwater gliders

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; AUTONOMOUS UNDERWATER VEHICLES; SAMPLING; UNCERTAIN SYSTEMS;

ADAPTIVE SAMPLING; COOPERATIVE CONTROL; GRADIENT CLIMBING; UNDERWATER GLIDERS; VIRTUAL BODIES AND ARTIFICIAL POTENTIALS;

OCEAN ENGINEERING;

EID: 33947381361     PISSN: 03649059     EISSN: None     Source Type: Journal    
DOI: 10.1109/JOE.2006.880429     Document Type: Conference Paper

References (29)

1. T. B. Curtin, J. G. Bellingham, J. Catipovic, and D. Webb, "Autonomous oceanographic sampling networks," Oceanography, vol. 6, pp. 86-94, 1989.
2. V. Kumar, N. E. Leonard, and A. S. Morse, Eds., Cooperative Control: A Post-Workshop Volume, 2003 Block Island Workshop on Cooperative Control. New York: Springer-Verlag, 2005.
3. B. Schultz, B. Hobson, M. Kemp, and J. Meyer, "Field results of multi-UUV missions using RANGER MicroUUVs," in Proc. MTS/IEEE Conf. OCEANS, Sep. 2003, pp. 956-961.
4. Monterey Bay Aquarium Research Institute (MBARI), "Autonomous Ocean Sampling Network II (AOSN II)" Collaborative Project, 2003 [Online]. Available: http://www.mbari.org/aosn/
5. Multidisciplinary University Research Initiative (MURI), "Adaptive Sampling and Prediction (ASAP) Collaborative MURI Project [Online]. Available: http://www.princeton.edu/~dcs1/asap
6. O. Khatib, "Real time obstacle avoidance for manipulators and mobile robots," Int. J. Robot. Res., vol. 5, pp. 90-99, 1986.
7. P. Khosla and R. Volpe, "Superquadric artificial potentials for obstacle avoidance," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1988, pp. 1778-1784.
8. E. Rimon and D. E. Koditschek, "Exact robot navigation using artificial potential functions," IEEE Trans. Robot. Autom., vol. 8, no. 5, pp. 501-518, Oct. 1992.
9. J. H. Reif and H. Wang, "Social potential fields: A distributed behavioral control for autonomous robots," Robot. Autonom. Syst., vol. 27, pp. 171-194, 1999.
10. W. S. Newman and N. Hogan, "High speed robot control and obstacle avoidance using dynamic potential functions," in Proc. IEEE Int. Conf. Robot. Autom., 1987, pp. 14-24.
11. J. Barraquand, B. Langlois, and J. C. Latombe, "Robot motion planning with many degrees of freedom and dynamic constraint," in Proc. 5th Int. Symp. Robot. Res., Aug. 1989, pp. 74-83.
12. D. Yoerger, A. Bradley, H. Singh, and R. Bachmayer, "Surveying a subsea lava flow using the autonomous benthic explorer (ABE)," Int. J. Syst. Sci., vol. 29, pp. 1031-1044, 1998.
13. F. P. Bretherton, R. E. Davis, and C. B. Fandry, "A technique for objective analysis and design of oceanographic experiments applied to MODE-73," Deep-Sea Res., vol. 23, pp. 559-582, 1976.
14. P. Ögren, E. Fiorelli, and N. E. Leonard, "Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment," IEEE Trans. Autom. Control, vol. 49, no. 8, pp. 1292-1302, Aug. 2004.
15. P. Ögren, E. Fiorelli, and N. E. Leonard, "Formations with amission: Stable coordination of vehicle group maneuvers," in Proc. Symp. Math. Theory Netw. Syst., 2002, pp. 1-15.
16. E. Fiorelli, "Cooperative vehicle control, feature tracking, and ocean sampling," Ph.D. dissertation, Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, 2005.
17. E. Fiorelli, P. Bhatta, N. E. Leonard, and I. Shulman, "Adaptive sampling using feedback control of an autonomous underwater glider fleet," in Proc. Symp. Unmanned Untethered Submersible Technol., 2003, pp. 1-16.
18. N. E. Leonard and E. Fiorelli, "Virtual leaders, artificial potentials and coordinated control of groups," in Proc. 40th IEEE Conf. Decision Control, 2001, pp. 2968-2973.
19. F. Zhang and N. E. Leonard, "Generating contour plots using multiple sensor plots," in Proc. IEEE Swarm Intell. Symp., Jun. 2005, pp. 309-314.
20. D. L. Rudnick, R. E. Davis, C. C. Eriksen, D. M. Fratantoni, and M. J. Perry, "Underwater gliders for ocean research," Mar. Technol. Soc. J., vol. 38, no. 1, pp. 48-59, 2004.
21. D. C. Webb, P. J. Simonetti, and C. P. Jones, "SLOCUM: An underwater glider propelled by environmental energy," IEEE J. Ocean. Eng., vol. 26, no. 4, pp. 447-452, Oct. 2001.
22. J. Sherman, R. E. Davis, W. B. Owens, and J. Valdes, "The autonomous underwater glider 'Spray," IEEE J. Ocean. Eng., vol. 26, no. 4, pp. 437-446, Oct. 2001.
23. C. C. Eriksen, T. J. Osse, T. Light, R. D. Wen, T. W. Lehmann, P. L. Sabin, J. W. Ballard, and A. M. Chiodi, "Seaglider: A long range autonomous underwater vehicle for oceanographic research," IEEE J. Ocean. Eng., vol. 26, no. 4, pp. 424-436, Oct. 2001.
24. N. E. Leonard, D. Paley, F. Lekien, R. Sepulchre, D. M. Fratantoni, and R. E. Davis, "Collective motion, sensor networks and ocean sampling," Proc. IEEE, vol. 95, 2007, to be published.
25. L. S. Gandin, Objective Analysis of Meteorological Fields. Jerusalem, Israel: Israel Program for Scientific Translations, 1965.
26. A. Bennett, Inverse Modeling of the Ocean and Atmosphere. Cambridge, U.K.: Cambridge Univ. Press, 2002.
27. E. Kalnay, Atmospheric Modeling, Data Assimilation and Predictability. Cambridge: Cambridge University Press, 2003.
28. P. F. J. Lermusiaux, "Data assimilation via error subspace statistical estimation, part II: Mid-Atlantic bight shelfbreak front simulations, and ESSE validation," Montly Weather Rev., vol. 127, no. 8, pp. 1408-1432, 1999.
29. F. P. Chavez, J. T. Pennington, R. Herlien, H. Jannasch, G. Thurmond, and G. E. Friederich, "Moorings and drifters for real-time interdisciplinary oceanography," J. Atmos. Ocean Technol., vol. 14, pp. 1199-1211, 1997.