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

106 Scopus citations


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.
Number of pages14
ISBN (Print)0780385438, 9780780385436
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


Other2004 IEEE/OES Autonomous Underwater Vehicles
Country/TerritoryUnited States
CitySebasco, ME

All Science Journal Classification (ASJC) codes

  • General Engineering


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