Cooperative control for ocean sampling: The glider coordinated control system

Derek A. Paley; Fumin Zhang; Naomi Ehrich Leonard

doi:10.1109/TCST.2007.912238

Cooperative control for ocean sampling: The glider coordinated control system

Derek A. Paley, Fumin Zhang, Naomi Ehrich Leonard

Research output: Contribution to journal › Article › peer-review

219 Scopus citations

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.

Original language	English (US)
Pages (from-to)	735-744
Number of pages	10
Journal	IEEE Transactions on Control Systems Technology
Volume	16
Issue number	4
DOIs	https://doi.org/10.1109/TCST.2007.912238
State	Published - Jul 2008

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Keywords

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

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10.1109/TCST.2007.912238

Cite this

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title = "Cooperative control for ocean sampling: The glider coordinated control system",

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 = "Distributed control, Marine technology, Mobile robots, Ocean sampling, Sensor networks, Underwater vehicles",

author = "Paley, \{Derek A.\} and Fumin Zhang and Leonard, \{Naomi Ehrich\}",

note = "Funding Information: Manuscript received November 2, 2006; revised April 2, 2007. Manuscript received in final form July 25, 2007. Recommended by Associate Editor C. Rabbath. This work was supported in part by the U.S. Office of Naval Research (ONR) under Grants N00014-02-1-0826, N00014-02-1-0861, and N00014-04-1-0534. The work of D. Paley was supported by the National Science Foundation (NSF) Graduate Research Fellowship, the Princeton Wu Graduate Fellowship, and the Pew Charitable Trust under Grant 2000-002558.",

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doi = "10.1109/TCST.2007.912238",

language = "English (US)",

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AU - Zhang, Fumin

AU - Leonard, Naomi Ehrich

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AB - 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.

KW - Distributed control

KW - Marine technology

KW - Mobile robots

KW - Ocean sampling

KW - Sensor networks

KW - Underwater vehicles

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Cooperative control for ocean sampling: The glider coordinated control system

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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