Title :
Cooperative Control for Ocean Sampling: The Glider Coordinated Control System
Author :
Paley, Derek A. ; Zhang, Fumin ; Leonard, Naomi Ehrich
Author_Institution :
Dept. of Aerosp. Eng., Maryland Univ., College Park, MD
fDate :
7/1/2008 12:00:00 AM
Abstract :
The glider coordinated control system (GCCS) uses a detailed glider model for prediction and a simple particle model for planning to steer a fleet of underwater gliders to a set of coordinated trajectories. The GCCS also serves as a simulation testbed for the design and evaluation of multivehicle control laws. In this brief, we describe the GCCS and present experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in Buzzards Bay, MA.
Keywords :
mobile robots; motion control; multi-robot systems; oceanographic techniques; underwater vehicles; cooperative control; coordinated trajectories; glider coordinated control system; multivehicle control; ocean sampling; underwater glider fleet; Distributed control; marine technology; mobile robots; ocean sampling; sensor networks; underwater vehicles;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2007.912238
