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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...

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Autores principales: Yu, Xi, Hsieh, M. Ani, Wei, Cong, Tanner, Hebert G.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
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.
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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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