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Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring
We develop a synchronous rendezvous strategy for a network of minimally actuated mobile sensors or active drifters to monitor a set of Lagrangian Coherent Structure (LCS) bounded regions, each exhibiting gyre-like flows. This paper examines the conditions under which a pair of neighboring agents ach...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806022/ https://www.ncbi.nlm.nih.gov/pubmed/33501091 http://dx.doi.org/10.3389/frobt.2019.00076 |
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author | Yu, Xi Hsieh, M. Ani Wei, Cong Tanner, Hebert G. |
author_facet | Yu, Xi Hsieh, M. Ani Wei, Cong Tanner, Hebert G. |
author_sort | Yu, Xi |
collection | PubMed |
description | We develop a synchronous rendezvous strategy for a network of minimally actuated mobile sensors or active drifters to monitor a set of Lagrangian Coherent Structure (LCS) bounded regions, each exhibiting gyre-like flows. This paper examines the conditions under which a pair of neighboring agents achieves synchronous rendezvous relying solely on the inherent flow dynamics within each LCS bounded region. The objective is to enable drifters in adjacent LCS bounded regions to rendezvous in a periodic fashion to exchange and fuse sensor data. We propose an agent-level control strategy to regulate the drifter speed in each monitoring region as well as to maximize the time the drifters are connected and able to communicate at every rendezvous. The strategy utilizes minimal actuation to ensure synchronization between neighboring pairs of drifters to ensure periodic rendezvous. The intermittent synchronization policy enables a locally connected network of minimally actuated mobile sensors to converge to a common orbit frequency. Robustness analysis against possible disturbance in practice and simulations are provided to illustrate the results. |
format | Online Article Text |
id | pubmed-7806022 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-78060222021-01-25 Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring Yu, Xi Hsieh, M. Ani Wei, Cong Tanner, Hebert G. Front Robot AI Robotics and AI We develop a synchronous rendezvous strategy for a network of minimally actuated mobile sensors or active drifters to monitor a set of Lagrangian Coherent Structure (LCS) bounded regions, each exhibiting gyre-like flows. This paper examines the conditions under which a pair of neighboring agents achieves synchronous rendezvous relying solely on the inherent flow dynamics within each LCS bounded region. The objective is to enable drifters in adjacent LCS bounded regions to rendezvous in a periodic fashion to exchange and fuse sensor data. We propose an agent-level control strategy to regulate the drifter speed in each monitoring region as well as to maximize the time the drifters are connected and able to communicate at every rendezvous. The strategy utilizes minimal actuation to ensure synchronization between neighboring pairs of drifters to ensure periodic rendezvous. The intermittent synchronization policy enables a locally connected network of minimally actuated mobile sensors to converge to a common orbit frequency. Robustness analysis against possible disturbance in practice and simulations are provided to illustrate the results. Frontiers Media S.A. 2019-09-04 /pmc/articles/PMC7806022/ /pubmed/33501091 http://dx.doi.org/10.3389/frobt.2019.00076 Text en Copyright © 2019 Yu, Hsieh, Wei and Tanner. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Yu, Xi Hsieh, M. Ani Wei, Cong Tanner, Hebert G. Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title | Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title_full | Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title_fullStr | Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title_full_unstemmed | Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title_short | Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring |
title_sort | synchronous rendezvous for networks of marine robots in large scale ocean monitoring |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806022/ https://www.ncbi.nlm.nih.gov/pubmed/33501091 http://dx.doi.org/10.3389/frobt.2019.00076 |
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