Cooperative Control for Ocean Sampling: The Glider Coordinated Control System

Derek Paley, Fumin Zhang and Naomi Ehrich Leonard

IEEE Transactions on Control Systems Technology, Vol. 16, No. 4, July 2008, 735-744.
The Glider Coordinated Control System (GCCS) uses a detailed glider model for prediction and a simple particle model for planning to steer a fleet of underwater gliders to a set of coordinated trajectories. The GCCS also serves as simulation testbed for design and evaluation of multi-vehicle control laws. We describe the GCCS and present experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in Buzzards Bay, MA.

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