Multi-AUV control and adaptive sampling in Monterey Bay

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TypeArticle
ConferenceWorkshop on Autonomous Underwater Vehicles, 17-18 June 2004, Sebasco Estates, Maine
AbstractMulti-AUV operations have much to offer a variety of underwater applications. With sensors to measure the environment and coordination that is appropriate to critical spatial and temporal scales, the group can perform important tasks such as adaptive ocean sampling. 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.
Publication date
AffiliationNRC Institute for Ocean Technology; National Research Council Canada
Peer reviewedNo
IdentifierIR-2004-34
NRC number6066
NPARC number8895024
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Record identifiera31c3d50-addf-4414-b374-9246f87d303f
Record created2009-04-22
Record modified2016-05-09
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