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Current-Sensitive Path Planning for an Underactuated Free-floating Ocean Sensorweb

Dahl, Kristen P. and Thompson, David R. and McLaren, David and Chao, Yi and Chien, Steve (2011) Current-Sensitive Path Planning for an Underactuated Free-floating Ocean Sensorweb. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 3140-3146. ISBN 978-1-61284-454-1.

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This work investigates multiagent path planning in strong, dynamic currents using thousands of highly underactuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.

Item Type:Book Section
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Thompson, David R.0000-0003-1100-7550
Additional Information:© 2011 IEEE. Date of Current Version: 05 December 2011. The research described in this paper was carried out at the Jet Propulsion Laboratory, California Institute of Technology. Copyright 2011 California Institute of Technology. All Rights Reserved. US Government Support Acknowledged.
Series Name:IEEE International Conference on Intelligent Robots and Systems
Record Number:CaltechAUTHORS:20120406-142747616
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Official Citation:Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve; , "Current-sensitive path planning for an underactuated free-floating ocean Sensorweb," Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on , vol., no., pp.3140-3146, 25-30 Sept. 2011 doi: 10.1109/IROS.2011.6094561 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:30022
Deposited By: Ruth Sustaita
Deposited On:06 Apr 2012 21:59
Last Modified:09 Mar 2020 13:19

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