Kenneth Mallory

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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 La-grangian coherent structures (LCS) in the ocean. Recent theoretical results have shown that LCS coincide with(More)
— We address the synthesis of distributed control policies to enable a homogeneous team of mobile sensing agents to maintain a desired spatial distribution in a geophysical flow environment. Geophysical flows are natural large-scale fluidic environments such as oceans, eddies, jets, and rivers. In this work, we assume the agents have a " map " of the(More)
The main contribution of this paper is the experimental validation of a decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) framework that can be used to solve the Multi-Vehicle Path Coordination (MVPC) problem. The MVPC problem features path-constrained vehicles that begin their transit from a fixed starting point and move towards(More)
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