Cooperative control for ocean sampling: The glider coordinated control system

Derek A. Paley, Fumin Zhang, Naomi Ehrich Leonard

Research output: Contribution to journalArticlepeer-review

202 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)735-744
Number of pages10
JournalIEEE Transactions on Control Systems Technology
Issue number4
StatePublished - Jul 2008

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


  • Distributed control
  • Marine technology
  • Mobile robots
  • Ocean sampling
  • Sensor networks
  • Underwater vehicles


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