Collective motion, sensor networks, and ocean sampling

Leonard, Naomi Ehrich; Paley, Derek; Lekien, François; Sepulchre, Rodolphe; Fratantoni, David M.; Davis, R. E.

doi:10.1109/JPROC.2006.887295

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Collective motion, sensor networks, and ocean sampling

Leonard, Naomi Ehrich; Paley, Derek; Lekien, François et al.

2007 • In Proceedings of the IEEE, 95 (1), p. 48-74

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https://hdl.handle.net/2268/33348

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10.1109/JPROC.2006.887295

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Keywords :

adaptive sampling; autonomous underwater vehicles; cooperative control; coordinated dynamics; mobile sensor networks; ocean sampling; underwater gliders

Abstract :

[en] This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing and prediction system. A performance metric, used to derive optimal paths for the network of mobile sensors, defines the optimal data set as one which minimizes error in a model estimate of the sampled field. Feedback control laws are presented that stably coordinate sensors on structured tracks that have been optimized over a minimal set of parameters. Optimal, closed-loop solutions are computed in a number of low-dimensional cases to illustrate the methodology. Robustness of the performance to the influence of a steady flow field on relatively slow-moving mobile sensors is also explored.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Leonard, Naomi Ehrich; Princeton University > Department of Mechanical and Aerospace Engineering

Paley, Derek; Princeton University

Lekien, François

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Fratantoni, David M.

Davis, R. E.

Language :

English

Title :

Collective motion, sensor networks, and ocean sampling

Publication date :

January 2007

Journal title :

Proceedings of the IEEE

ISSN :

0018-9219

eISSN :

1558-2256

Publisher :

Ieee-Inst Electrical Electronics Engineers Inc, Piscataway, United States - New Jersey

Volume :

Issue :

Pages :

48-74

Peer reviewed :

Peer Reviewed verified by ORBi

Available on ORBi :

since 22 December 2009

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760

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697

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623

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