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.