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—This paper reports two specific improvements in the finite-dimensional nonlinear dynamical modeling of marine thrusters. Previously reported four-quadrant models have employed thin airfoil theory considering only axial fluid flow and using sinusoidal lift/drag curves. First, we present a thruster model incorporating the effects of rotational fluid velocity(More)
Fish in a school efficiently find the densest source of food by individually responding not only to local environmental stimuli but also to the behavior of nearest neighbors. It is of great interest to enable a network of autonomous vehicles to function similarly as an intelligent sensor array capable of climbing or descending gradients of some spatially(More)
The Autonomous Ocean Sampling Network-II (AOSN-II) and Adaptive Sampling And Prediction (ASAP) projects aim to develop a sustainable, portable, adaptive ocean observing and prediction system for use in coastal environments. These projects employ, among other observation platforms, autonomous underwater vehicles that carry sensors to measure physical and(More)
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