Flow-Based Control of Marine Robots in Gyre-Like Environments
Gedaliah Knizhnik,Peihan Li,Xi Yu,M. Ani Hsieh,Gedaliah Knizhnik,Peihan Li,Xi Yu,M. Ani Hsieh
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of the flow field and relies only on the robot's location relative to the center of the gyre. Instead of precisely tracking a pre-defined trajectory, the robots a...
