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| Titel |
Distributed allocation of mobile sensing swarms in gyre flows |
| VerfasserIn |
K. Mallory, M. A. Hsieh, E. Forgoston, I. B. Schwartz |
| Medientyp |
Artikel
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| Sprache |
Englisch
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| ISSN |
1023-5809
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| Digitales Dokument |
URL |
| Erschienen |
In: Nonlinear Processes in Geophysics ; 20, no. 5 ; Nr. 20, no. 5 (2013-09-16), S.657-668 |
| Datensatznummer |
250086047
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| Publikation (Nr.) |
 copernicus.org/npg-20-657-2013.pdf |
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| Zusammenfassung |
| We address the synthesis of distributed control policies to enable a swarm of
homogeneous mobile sensors to maintain a desired spatial distribution in a
geophysical flow environment, or workspace. In this article, we assume the
mobile sensors (or robots) have a "map" of the environment denoting the
locations of the Lagrangian coherent structures or LCS boundaries. Using this
information, we design agent-level hybrid control policies that leverage the
surrounding fluid dynamics and inherent environmental noise to enable the
team to maintain a desired distribution in the workspace. We discuss the
stability properties of the ensemble dynamics of the distributed control
policies. Since realistic quasi-geostrophic ocean models predict double-gyre
flow solutions, we use a wind-driven multi-gyre flow model to verify the
feasibility of the proposed distributed control strategy and compare the
proposed control strategy with a baseline deterministic allocation strategy.
Lastly, we validate the control strategy using actual flow data obtained by
our coherent structure experimental testbed. |
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