Transcript NE Leonard – U. Pisa – 18-20 April 2007

Cooperative Control
and
Mobile Sensor Networks
Application to Mobile Sensor
Networks, Part I
Naomi Ehrich Leonard
Mechanical and Aerospace Engineering
Princeton University
and Electrical Systems and Automation
University of Pisa
[email protected],
www.princeton.edu/~naomi
Slide 1
N.E. Leonard – U. Pisa – 18-20 April 2007
Outline
1.
Introduction to cooperative control and mobile sensor networks
2.
Cooperative control, part I
•
Virtual bodies and artificial potentials (VBAP)
•
Virtual tensegrity structures
•
Coordination of mechanical system networks
•
Curvature control and level set tracking
3.
Application to mobile sensor networks, part I
•
Adaptive gradient climbing; curve tracking; contour plots; adaptation of sampling resolution
4.
Cooperative control, part II
•
Coupled oscillator dynamics and collective motion
•
Consensus dynamics and collective motion with limited communication.
•
Extensions and new directions: multi-scale, resonant patterns, oscillatory speeds.
5.
Application to mobile sensor networks, part II
•
Coverage and adaptive sampling
6.
Implementation of glider coordinated control system.
7.
Connections to collective motion of animal groups (time permitting)
Slide 2
N.E. Leonard – U. Pisa – 18-20 April 2007
Reference
1.
E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley, R. Bachmayer and D. Fratantoni, Multi-AUV
control and adaptive sampling in Monterey Bay, IEEE J. Oceanic Engineering, 31:4, pages
935-948, 2006.
Slide 3
N.E. Leonard – U. Pisa – 18-20 April 2007
August 6 Coordinated Sea Trial
Aug 6-7, 2003
Aug 6-7, 2003
Glider
temperature
profiles
Slide 4
N.E. Leonard – U. Pisa – 18-20 April 2007
August 16 Coordinated Glider Sea Trial
Aug 16, 2003
QuickTime™ and a
decompressor
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Average inter-vehicle spacing
Slide 5
N.E. Leonard – U. Pisa – 18-20 April 2007
Aug. 6, 2003 Results
5m
Slide 6
30 m
N.E. Leonard – U. Pisa – 18-20 April 2007
Aug. 16, 2003 Results
5m
Slide 7
30 m
N.E. Leonard – U. Pisa – 18-20 April 2007
With Fumin Zhang
37.0
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Cinepak decompressor
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lat.
Exploring Scalar Fields
37.1
36.9
36.8
-122.6
-122.5
-122.4
-122.3
-122.2
lon.
Temperature at -20m near Monterey Bay
Slide 8
N.E. Leonard – U. Pisa – 18-20 April 2007
temperature
Exploring Scalar Fields
time (hrs)
Slide 9
N.E. Leonard – U. Pisa – 18-20 April 2007
Front Definition
Red Tides and Algal Blooms
With Francois Lekien and
Eddie Fiorelli
• Thermal Front
Parameter (TFP)
• Thermal Front
• Warm / Cold Fronts
Slide 10
N.E. Leonard – U. Pisa – 18-20 April 2007
Front Tracking
•
•
Formation maintains optimal
shape
to estimate gradient, …
Virtual beacon
tracks the front
QuickTime™ and a
BMP decompressor
are needed to see this picture.
Slide 11
N.E. Leonard – U. Pisa – 18-20 April 2007