Experiments in dynamic control of autonomous marine vehicles using acoustic modems
Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/97476 https://orcid.org/0000-0002-2621-7633 https://orcid.org/0000-0002-3138-7346 |
| _version_ | 1826192217847365632 |
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| author | Gilbertson, Eric W. Leighton, Joshua C. Cheung, Mei Yi Hover, Franz S. Reed, Brooks |
| author2 | Joint Program in Oceanography/Applied Ocean Science and Engineering |
| author_facet | Joint Program in Oceanography/Applied Ocean Science and Engineering Gilbertson, Eric W. Leighton, Joshua C. Cheung, Mei Yi Hover, Franz S. Reed, Brooks |
| author_sort | Gilbertson, Eric W. |
| collection | MIT |
| description | Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator channel. On the controller-actuator side we implement sparse packetized predictive control (S-PPC), which simultaneously addresses packet-loss and the data rate limit. For the sensor-controller channel we study a modified information filter (MIF) in a Linear Quadratic Gaussian (LQG) control scheme. Field experiments were carried out with both approaches, regulating crosstrack error in a robotic kayak using acomms. Outcomes with both the S-PPC and MIF LQG confirm that good performance is achievable. |
| first_indexed | 2024-09-23T09:08:09Z |
| format | Article |
| id | mit-1721.1/97476 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:08:09Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/974762022-09-30T13:39:05Z Experiments in dynamic control of autonomous marine vehicles using acoustic modems Gilbertson, Eric W. Leighton, Joshua C. Cheung, Mei Yi Hover, Franz S. Reed, Brooks Joint Program in Oceanography/Applied Ocean Science and Engineering Massachusetts Institute of Technology. Department of Mechanical Engineering Woods Hole Oceanographic Institution Gilbertson, Eric W. Reed, Brooks Leighton, Joshua C. Cheung, Mei Yi Hover, Franz S. Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator channel. On the controller-actuator side we implement sparse packetized predictive control (S-PPC), which simultaneously addresses packet-loss and the data rate limit. For the sensor-controller channel we study a modified information filter (MIF) in a Linear Quadratic Gaussian (LQG) control scheme. Field experiments were carried out with both approaches, regulating crosstrack error in a robotic kayak using acomms. Outcomes with both the S-PPC and MIF LQG confirm that good performance is achievable. United States. Office of Naval Research (Grant N00014-09-1-0700) National Science Foundation (U.S.) (Contract CNS-1212597) Finmeccanica 2015-06-19T17:53:52Z 2015-06-19T17:53:52Z 2013-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-5643-5 978-1-4673-5641-1 1050-4729 http://hdl.handle.net/1721.1/97476 Gilbertson, Eric, Brooks L. Reed, Josh Leighton, Mei Yi Cheung, and Franz S. Hover. “Experiments in Dynamic Control of Autonomous Marine Vehicles Using Acoustic Modems.” 2013 IEEE International Conference on Robotics and Automation (May 2013). https://orcid.org/0000-0002-2621-7633 https://orcid.org/0000-0002-3138-7346 en_US http://dx.doi.org/10.1109/ICRA.2013.6631310 Proceedings of the 2013 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Gilbertson, Eric W. Leighton, Joshua C. Cheung, Mei Yi Hover, Franz S. Reed, Brooks Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title | Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title_full | Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title_fullStr | Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title_full_unstemmed | Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title_short | Experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| title_sort | experiments in dynamic control of autonomous marine vehicles using acoustic modems |
| url | http://hdl.handle.net/1721.1/97476 https://orcid.org/0000-0002-2621-7633 https://orcid.org/0000-0002-3138-7346 |
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