DocumentCode
1111385
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
Volume
16
Issue
4
fYear
2008
fDate
7/1/2008 12:00:00 AM
Firstpage
735
Lastpage
744
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;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2007.912238
Filename
4476150
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