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Fall 2013 GRASP Seminar: Franz Hover, Massachusetts Institute of Technology, “PLUME-CHASERS: Designing Fast Robot Teams Underwater”

October 25, 2013 @ 11:00 am - 12:00 pm

Abstract: Pursuit
is a general class of perception and control problems defined by critical space
and time scales:  a follower that cannot
maintain adequate real-time performance will simply be unable to keep up.  Autonomous pursuit missions in the ocean
include tracking of a marine vehicle or animal, and monitoring a large-scale
ocean process like an oil plume or chemical front.  The opportunity for multi-vehicle sensing
systems to contribute is clear, but wireless communication has been a perennial
bottleneck that prevents truly dynamic operation.  Network-based control, a major research area
over the last ten years, offers some solutions since packet loss, quantization,
and delay are all relevant to gateway arrangements and acoustic modems in use today.

will discuss some of the framework and leading approaches for disciplined
design of marine vehicle teams operating under severe communication
constraints.  Our work includes the
multi-armed bandit for stochastic adaptive positioning, target pursuit with joint
estimation and coordinated control through acoustic modems, and an extension of
target pursuit to follow ocean features. 
This integrated “plume-chaser” mission is made possible by projecting a
predictive field model onto vehicle coordinates, and applying strong synthesis
tools within a linear time-invariant framework.


- Learn More

Franz Hover was a consultant to industry and a Principal Research
Engineer at MIT before joining the MechE faculty in 2007. His research has led to commercial
development of the HAUV platform for autonomous ship hull inspection, advances
in computational tools for power systems, and innovations in subsea flow
control technology. Current work focuses
on the design and implementation of multi-agent ocean systems. Professor Hover has authored or co-authored
over one hundred refereed papers. He has
also supervised more than 150 undergraduate research projects, and served as
advisor to the MIT Marine Robotics Team since 2004.


October 25, 2013
11:00 am - 12:00 pm
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