Cooperative control for ocean sampling: The glider coordinated control system
IEEE Transactions on Control Systems Technology, 2008•ieeexplore.ieee.org
The glider coordinated control system (GCCS) uses a detailed glider model for prediction
and a simple particle model for planning to steer a fleet of underwater gliders to a set of
coordinated trajectories. The GCCS also serves as a simulation testbed for the design and
evaluation of multivehicle control laws. In this brief, we describe the GCCS and present
experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in
Buzzards Bay, MA.
and a simple particle model for planning to steer a fleet of underwater gliders to a set of
coordinated trajectories. The GCCS also serves as a simulation testbed for the design and
evaluation of multivehicle control laws. In this brief, we describe the GCCS and present
experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in
Buzzards Bay, MA.
The glider coordinated control system (GCCS) uses a detailed glider model for prediction and a simple particle model for planning to steer a fleet of underwater gliders to a set of coordinated trajectories. The GCCS also serves as a simulation testbed for the design and evaluation of multivehicle control laws. In this brief, we describe the GCCS and present experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in Buzzards Bay, MA.
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