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Cooperative Control and Mobile Sensor Networks

Cooperative Control and Mobile Sensor Networks Application to Mobile Sensor Networks, Part I. Naomi Ehrich Leonard Mechanical and Aerospace Engineering Princeton University and Electrical Systems and Automation University of Pisa

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Cooperative Control and Mobile Sensor Networks

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  1. Cooperative Control and Mobile Sensor Networks Application to Mobile Sensor Networks, Part I Naomi Ehrich Leonard Mechanical and Aerospace Engineering Princeton University and Electrical Systems and Automation University of Pisa naomi@princeton.edu, www.princeton.edu/~naomi

  2. Outline • Introduction to cooperative control and mobile sensor networks • Cooperative control, part I • Virtual bodies and artificial potentials (VBAP) • Virtual tensegrity structures • Coordination of mechanical system networks • Curvature control and level set tracking • Application to mobile sensor networks, part I • Adaptive gradient climbing; curve tracking; contour plots; adaptation of sampling resolution • Cooperative control, part II • Coupled oscillator dynamics and collective motion • Consensus dynamics and collective motion with limited communication. • Extensions and new directions: multi-scale, resonant patterns, oscillatory speeds. • Application to mobile sensor networks, part II • Coverage and adaptive sampling 6.Implementation of glider coordinated control system. 7.Connections to collective motion of animal groups (time permitting)

  3. Reference E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley, R. Bachmayer and D. Fratantoni, Multi-AUV control and adaptive sampling in Monterey Bay, IEEE J. Oceanic Engineering, 31:4, pages 935-948, 2006.

  4. Aug 6-7, 2003 August 6 Coordinated Sea Trial Aug 6-7, 2003 Glider temperature profiles

  5. August 16 Coordinated Glider Sea Trial Aug 16, 2003 Average inter-vehicle spacing

  6. Aug. 6, 2003 Results 5 m 30 m

  7. Aug. 16, 2003 Results 5 m 30 m

  8. Exploring Scalar Fields With Fumin Zhang 37.1 37.0 lat. 36.9 36.8 -122.6 -122.5 -122.4 -122.3 -122.2 lon. Temperature at -20m near Monterey Bay

  9. Exploring Scalar Fields temperature time (hrs)

  10. Thermal FrontParameter (TFP) • Thermal Front • Warm / Cold Fronts Red Tides and Algal Blooms Front Definition With Francois Lekien and Eddie Fiorelli

  11. Front Tracking • Formation maintains optimal shapeto estimate gradient, … • Virtual beacontracks the front

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