An Experimental Testbed for Multi-Robot Tracking of Manifolds and Coherent Structures in Flows

Author:

Michini Matthew1,Mallory Kenneth1,Larkin Dennis1,Hsieh M. Ani1,Forgoston Eric2,Yecko Philip A.2

Affiliation:

1. Drexel University, Philadelphia, PA

2. Montclair State University, Montclair, NJ

Abstract

In this paper, we describe the development of an experimental testbed capable of producing controllable ocean-like flows in a laboratory setting. The objective is to develop a testbed to evaluate multi-robot strategies for tracking manifolds and Lagrangian coherent structures (LCS) in the ocean. Recent theoretical results have shown that LCS coincide with minimum energy and minimum time optimal paths for autonomous vehicles in the ocean. Furthermore, knowledge of these structures enables the prediction and estimation of the underlying fluid dynamics. The testbed is a scaled flow tank capable of generating complex and controlled quasi-2D flow fields that exhibit wind-driven double-gyre flows. Particle image velocimetry (PIV) is used to extract the 2D surface velocities and the data is then processed to verify the existence of manifolds and Lagrangian coherent structures in the flow. The velocity data is then used to evaluate our previously proposed multi-robot LCS tracking strategy in simulation.

Publisher

American Society of Mechanical Engineers

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Finite-horizon, energy-efficient trajectories in unsteady flows;Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences;2022-02

2. Robotic Tracking of Coherent Structures in Flows;IEEE Transactions on Robotics;2014-06

3. Distributed allocation of mobile sensing swarms in gyre flows;Nonlinear Processes in Geophysics;2013-09-16

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