Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels

@article{Fahad2015RoboticSO,
  title={Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels},
  author={Muhammad Fahad and Nathaniel Saul and Yi Guo and Brian Bingham},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={2654-2659}
}
Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front propagation. In this paper we study the robustness of the controller in a robot simulator, and evaluate it's performance in a realistic… 

Figures from this paper

Plume Front Tracking in Unknown Environments by Estimation and Control

TLDR
Theories of convergence, stability, and transient state are presented to guarantee the performance of plume front tracking and overcome the challenge to establish a new control law by integrating interactive estimation and control in a unified loop.

Predicting Environmental Boundary Behaviors With a Mobile Robot

TLDR
A model that uses a single robot moving around an environmental boundary in order to predict its shape by an analytical continuous function, which is based on the combination of polynomial approximation and Fourier Series, shows that it converges to the exact boundary when the sample frequency and the robot velocity are increased.

Simulating Fine-Scale Marine Pollution Plumes for Autonomous Robotic Environmental Monitoring

TLDR
A calibrated Eulerian plume model is presented that exhibits the qualitative and quantitative characteristics exhibited by experimentally generated marine plumes and is implemented in a Robot Operating System (ROS) based simulator.

Boundary Detection Robots

TLDR
This paper presents a model using a two-robot moving around an environmental boundary to predict its shape through a continuous analytical function based on the combination of polynomial approximation and implements a stable transmission range of robot control laws with sensors to track irregular area boundaries.

Variable buoyancy control for a bottom skimming autonomous underwater vehicle

Two feedback controllers are presented that utilize data averaging and model-based estimation to offset the effects of sensor noise and achieve precise control of an autonomous underwater vehicle

Adaptive agent tracking approach for oil contamination in water environments

TLDR
An integrated tracking framework, which is used to track the moving contour of oil pollution via a system comprising multiple unmanned surface vehicles, is proposed, and the zigzag, unmanned underwater vehicle-gas, cloverleaf trajectory and curvature-weighted deployment algorithm methods are employed with consideration of their suitability to this approach.

Chemical Spill Encircling Using a Quadrotor and Autonomous Surface Vehicles: A Distributed Cooperative Approach

This article addresses the problem of formation control of a quadrotor and one (or more) marine vehicles operating at the surface of the water with the end goal of encircling the boundary of a

Online Boundary Estimation in Partially Observable Environments Using a UAV

TLDR
A framework for environmental boundary tracking and estimation in partially observable environments which are processed in an online manner is developed by integrating a noise canceling filter and a novel adaptive crossing angle correction scheme.

Cooperative prediction of time-varying boundaries with a team of robots

TLDR
This work proposes a decentralized coordination method that allows multiple robots to efficiently sample and predict the behavior of environmental boundaries and demonstrates experimentally that the method can estimate and predict non-convex boundaries even with noisy measurements and inaccurate motion actuators.

References

SHOWING 1-10 OF 25 REFERENCES

Multi-robot cooperative control for monitoring and tracking dynamic plumes

TLDR
The transport model of pollution source is explicitly considered in tracking control design and the distributed control is scalable to a large number of robots.

Robotic manifold tracking of coherent structures in flows

TLDR
A collaborative robotic control strategy designed to track stable and unstable manifolds based on local sensing, prediction, and correction to track coherent structures and manifolds in dynamical systems.

Moth-inspired chemical plume tracing on an autonomous underwater vehicle

TLDR
This paper presents a behavior-based adaptive mission planner to trace a chemical plume to its source and reliably declare the source location and describes the methods and results from experiments conducted in November 2002, using a plume of Rhodamine dye developed in a turbulent fluid flow.

Variable buoyancy control for a bottom skimming autonomous underwater vehicle

Two feedback controllers are presented that utilize data averaging and model-based estimation to offset the effects of sensor noise and achieve precise control of an autonomous underwater vehicle

Exploring scalar fields using multiple sensor platforms: Tracking level curves

TLDR
This work develops one strategy which uses four moving sensor platforms to explore a noisy scalar field defined in the plane, and develops a motion control law to allow the center of the platform formation to move along level curves of the averaged field.

Chemical Plume Source Localization

  • S. PangJ. Farrell
  • Environmental Science
    IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
  • 2006
TLDR
This paper addresses the problem of estimating a likelihood map for the location of the source of a chemical plume using an autonomous vehicle as a sensor probe in a fluid flow using a new source-likelihood mapping approach based on Bayesian inference methods.

Cooperative hybrid control of robotic sensors for perimeter detection and tracking

TLDR
A decentralized coordination algorithm is presented that allows a robotic swarm to locate and track a dynamic perimeter and collision-free cycling behavior emerges by composing simple reactive control laws.

Cooperative exploration of level surfaces of three dimensional scalar fields

Tracking Oil Slicks and Predicting their Trajectories Using Remote Sensors and Models: Case Studies of the Sea Princess and Deepwater Horizon Oil Spills

Abstract Oil spills can harm marine life in the oceans, estuaries, and wetlands. To limit the damage by a spill and facilitate cleanup efforts, emergency managers need information on spill location,

The Wave Glider: A persistent platform for ocean science

The Wave Glider is an unmanned maritime vehicle (UMV) unique in its ability to harness ocean wave energy for platform propulsion. This paper provides an overview of the Wave Glider vehicle's design