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 Lagrangian 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 fluidic(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)
A method of approximately doubling the energy of the SLAC Accelerator by recirculation of the beam and. reinjection into the machine for a second pass is described. The recirculator could also be used for high duty cycle (up to 60/O) experiments at the recirculating energy by storing the beam and extracting about 1% of the electrons per revolution.(More)
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