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arXiv · 1303.0704

Distributed allocation of mobile sensing swarms in gyre flows

Kenneth Mallory·M. Ani Hsieh·Eric Forgoston·Ira B. Schwartz
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Abstract

We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a "map" of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. Based on this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We establish the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.

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Kenneth Mallory, M. Ani Hsieh, Eric Forgoston, Ira B. Schwartz. 2013-09-16. Distributed allocation of mobile sensing swarms in gyre flows. https://doi.org/10.5194/npg-20-657-2013

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