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 proceedingConference contribution

96 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 languageEnglish (US)
Title of host publication2004 IEEE/OES Autonomous Underwater Vehicles
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages134-147
Number of pages14
ISBN (Print)0780385438, 9780780385436
DOIs
StatePublished - 2004
Event2004 IEEE/OES Autonomous Underwater Vehicles - Sebasco, ME, United States
Duration: Jun 17 2004Jun 18 2004

Publication series

Name2004 IEEE/OES Autonomous Underwater Vehicles

Other

Other2004 IEEE/OES Autonomous Underwater Vehicles
CountryUnited States
CitySebasco, ME
Period6/17/046/18/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Fiorelli, E., Leonard, N. E., Bhatta, P., Paley, D., Bachmayer, R., & Fratantoni, D. M. (2004). Multi-AUV control and adaptive sampling in monterey bay. In 2004 IEEE/OES Autonomous Underwater Vehicles (pp. 134-147). (2004 IEEE/OES Autonomous Underwater Vehicles). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/auv.2004.1431204