Multi-AUV control and adaptive sampling in monterey bay

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

doi:10.1109/auv.2004.1431204

Multi-AUV control and adaptive sampling in monterey bay

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

107 Scopus citations

Abstract

Multi-AUV operations have much to offer a variety of underwater applications. With sensors to measure the environment and coordination that is appropriate to critical spatial and temporal scales, the group can perform important tasks such as adaptive ocean sampling. 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)
Title of host publication	2004 IEEE/OES Autonomous Underwater Vehicles
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	134-147
Number of pages	14
ISBN (Print)	0780385438, 9780780385436
DOIs	https://doi.org/10.1109/auv.2004.1431204
State	Published - 2004
Event	2004 IEEE/OES Autonomous Underwater Vehicles - Sebasco, ME, United States Duration: Jun 17 2004 → Jun 18 2004

Publication series

Name	2004 IEEE/OES Autonomous Underwater Vehicles

Other

Other	2004 IEEE/OES Autonomous Underwater Vehicles
Country/Territory	United States
City	Sebasco, ME
Period	6/17/04 → 6/18/04

All Science Journal Classification (ASJC) codes

General Engineering

Access to Document

10.1109/auv.2004.1431204

Cite this

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title = "Multi-AUV control and adaptive sampling in monterey bay",

abstract = "Multi-AUV operations have much to offer a variety of underwater applications. With sensors to measure the environment and coordination that is appropriate to critical spatial and temporal scales, the group can perform important tasks such as adaptive ocean sampling. 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.",

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

year = "2004",

doi = "10.1109/auv.2004.1431204",

language = "English (US)",

isbn = "0780385438",

series = "2004 IEEE/OES Autonomous Underwater Vehicles",

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

pages = "134--147",

booktitle = "2004 IEEE/OES Autonomous Underwater Vehicles",

address = "United States",

note = "2004 IEEE/OES Autonomous Underwater Vehicles ; Conference date: 17-06-2004 Through 18-06-2004",

}

Fiorelli, E, Leonard, NE, Bhatta, P, Paley, D, Bachmayer, R & Fratantoni, DM 2004, Multi-AUV control and adaptive sampling in monterey bay. in 2004 IEEE/OES Autonomous Underwater Vehicles. 2004 IEEE/OES Autonomous Underwater Vehicles, Institute of Electrical and Electronics Engineers Inc., pp. 134-147, 2004 IEEE/OES Autonomous Underwater Vehicles, Sebasco, ME, United States, 6/17/04. https://doi.org/10.1109/auv.2004.1431204

Multi-AUV control and adaptive sampling in monterey bay. / Fiorelli, Edward; Leonard, Naomi Ehrich; Bhatta, Pradeep et al.
2004 IEEE/OES Autonomous Underwater Vehicles. Institute of Electrical and Electronics Engineers Inc., 2004. p. 134-147 (2004 IEEE/OES Autonomous Underwater Vehicles).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Multi-AUV control and adaptive sampling in monterey bay

AU - Fiorelli, Edward

AU - Leonard, Naomi Ehrich

AU - Bhatta, Pradeep

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AU - Bachmayer, Ralf

AU - Fratantoni, David M.

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AB - Multi-AUV operations have much to offer a variety of underwater applications. With sensors to measure the environment and coordination that is appropriate to critical spatial and temporal scales, the group can perform important tasks such as adaptive ocean sampling. 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.

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ER -

Multi-AUV control and adaptive sampling in monterey bay

Abstract

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Other

All Science Journal Classification (ASJC) codes

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