Multi-AUV control and adaptive sampling in Monterey Bay

Edward Fiorelli; Naomi Ehrich Leonard; Pradeep Bhatta; Derek A. Paley; Ralf Bachmayer; David M. Fratantoni

doi:10.1109/JOE.2006.880429

Multi-AUV control and adaptive sampling in Monterey Bay

Edward Fiorelli, Naomi Ehrich Leonard, Pradeep Bhatta, Derek A. Paley, Ralf Bachmayer, David M. Fratantoni

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

396 Scopus citations

Abstract

Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.

Original language	English (US)
Pages (from-to)	935-948
Number of pages	14
Journal	IEEE Journal of Oceanic Engineering
Volume	31
Issue number	4
DOIs	https://doi.org/10.1109/JOE.2006.880429
State	Published - Oct 2006
Externally published	Yes

All Science Journal Classification (ASJC) codes

Ocean Engineering
Mechanical Engineering
Electrical and Electronic Engineering

Keywords

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

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10.1109/JOE.2006.880429

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title = "Multi-AUV control and adaptive sampling in Monterey Bay",

abstract = "Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.",

keywords = "Adaptive sampling, Autonomous underwater vehicles (AUVs), Cooperative control, Formations, Gradient climbing, Underwater gliders",

author = "Edward Fiorelli and Leonard, {Naomi Ehrich} and Pradeep Bhatta and Paley, {Derek A.} and Ralf Bachmayer and Fratantoni, {David M.}",

note = "Funding Information: Manuscript received June 30, 2005; revised February 5, 2006; accepted March 1, 2006. This work was supported in part by the Office of Naval Research under Grants N00014-02-1-0826 and N00014-02-1-0861, by the National Science Foundation under Grant CCR-9980058, by the Air Force Office of Scientific Research under Grant F49620-01-1-0382, and by the Pew Charitable Trust under Grant 2000-002558. Guest and Associate Editors: H. Singh, C. Brancart, and J. F. Lynch.",

year = "2006",

month = oct,

doi = "10.1109/JOE.2006.880429",

language = "English (US)",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Fiorelli, Edward

AU - Leonard, Naomi Ehrich

AU - Bhatta, Pradeep

AU - Paley, Derek A.

AU - Bachmayer, Ralf

AU - Fratantoni, David M.

N1 - Funding Information: Manuscript received June 30, 2005; revised February 5, 2006; accepted March 1, 2006. This work was supported in part by the Office of Naval Research under Grants N00014-02-1-0826 and N00014-02-1-0861, by the National Science Foundation under Grant CCR-9980058, by the Air Force Office of Scientific Research under Grant F49620-01-1-0382, and by the Pew Charitable Trust under Grant 2000-002558. Guest and Associate Editors: H. Singh, C. Brancart, and J. F. Lynch.

PY - 2006/10

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N2 - Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.

AB - Operations with multiple autonomous underwater vehicles (AUVs) have a variety of underwater applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal scales. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August, 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.

KW - Adaptive sampling

KW - Autonomous underwater vehicles (AUVs)

KW - Cooperative control

KW - Formations

KW - Gradient climbing

KW - Underwater gliders

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Multi-AUV control and adaptive sampling in Monterey Bay

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All Science Journal Classification (ASJC) codes

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