Autonomous Maritime Vehicle Systems @ Virginia Tech. Wayne Neu, Craig Woolsey, Dan Stilwell, Chris Wyatt, Mike Roan Contact: Dan Stilwell [email protected] (540) 231-3204. Autonomous Vehicles High-Speed AUV 475 AUV VT ASV Fundamental Research Dynamics and control
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Wayne Neu, Craig Woolsey,
Dan Stilwell, Chris Wyatt, Mike Roan
Contact: Dan Stilwell
Neutrally ballasted vehicle at high speed
Animation of data from AUVfest June 7, 2007
~675 ft. run at 10 Knots (40 sec)
8 Piezoceramic Cylindrical
All analog and digital electronics
Ethernet to AUV
plume indicator function
Temperature alone does not predict outflow
Plume indicator function more clearly shows outflow
Key Theoretical Challenges
Closed-loop data fusion and control
Stilwell, D. J., Bollt, E. M., Roberson, D. G., 2006, "Sufficient Conditions for Fast Switching Synchronization in Time-Varying Network Topologies," SIAM J. Applied Dynamical Systems, vol. 6, no. 1, pp. 140-156.
Porfiri, M. Stilwell, D. J., Bollt, E. M., Skufca, J. D. 2007, “Random Talk: Random Walk and Synchronizability in a Moving Neighborhood Network,” in Physica D, in press.
Porfiri, M., Roberson, D. G., Stilwell, D. J., Tracking and Formation Control of Multiple Autonomous Agents: A Two-Level Consensus Approach, Automatica, in press.
Porfiri, M., Stilwell, D. J., "Consensus Seeking over Random Weighted Directed Graphs," in IEEE Transactions on Automatic Control, (in press)
Porfiri, M., Stilwell, D. J., Bollt, E. M., “Synchronization in random weighted directed networks,” IEEE Transactions of Circuits and Systems – I (in press), and ACC 2007.
Porfiri, M., Roberson, D. G., Stilwell, D. J., “Fast switching analysis of linear switched systems using exponential splitting,” SIAM Journal of Control and Optimization (in review) and ACC 2006.
(motion)Sparse Stochastic Networks
Closed-loop data fusion and control
Porfiri, M., Roberson, D. G., Stilwell, D. J., 2006, "Environmental Tracking and Formation Control of a Platoon of Autonomous Vehicles Subject to Limited Communication," Proceedings of the IEEE Int'l. Conf. on Robotics and Automation, Orlando, FL.
Roberson, D. G., Stilwell, D. J., "Decentralized Control and Estimation for a Platoon of Autonomous Vehicles with a Circulant Communication Network," Automatica, (in review) and ACC 2006.
Tracking (vector field)
Tracking (scalar field)
Feature detection, classification, localization
stochastic map generation
Nonlinear Control design
Of Advanced AUVs
The Liberdade/XRay flying wing underwater glider.1(Solid model courtesy MPL/SIO and UW/APL.)
1G. D’Spain (MPL/SIO) & P. Brodsky (APL/UW) will speak about Liberdade/XRay development at 8:45 AM.
Objective: “Large-envelope” AUV control
Approach: Potential energy shaping
Takegaki & Arimoto, 1981. Leonard, 1996.
Some Results... design
Potential shaping yields almost global asymptotic stability.1
Animation generated using VRMLPlot (C. Sayers). Vehicle prototype by J. Graver.
1Woolsey, IEEE Conf. Decision & Control, Dec. 2006
Step 1: The Steady Turn design
(A Regular Perturbation Problem)
Simulations use Slocum dynamic model given by Bhatta, 2006.
1See, for example, Savla, Bullo, & Frazzoli, 2006; Ma & Castanon, 2006. Also see Sussmann & Tang, 1991; Boissonnat et al, 1992.