Multi-AUV Control and Adaptive Sampling in Monterey Bay
E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley, R. Bachmayer, D.M. Fratantoni
IEEE Journal of Oceanic Engineering, 31(4):935-948, October 2006.
Multi-AUV operations have a variety of underwater
applications. For example, a coordinated group of vehicles with environmental sensors can perform adaptive ocean sampling at the appropriate spatial and temporal
scales. 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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