Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring

Abstract

We develop a synchronous rendezvous strategy for a network of minimally actuated mobile sensors or active drifters to monitor a set of Lagrangian Coherent Structure (LCS) bounded regions, each exhibiting gyre-like flows. This paper examines the conditions under which a pair of neighboring agents achieves synchronous rendezvous relying solely on the inherent flow dynamics within each LCS bounded region. The objective is to enable drifters in adjacent LCS bounded regions to rendezvous in a periodic fashion to exchange and fuse sensor data. We propose an agent-level control strategy to regulate the drifter speed in each monitoring region as well as to maximize the time the drifters are connected and able to communicate at every rendezvous. The strategy utilizes minimal actuation to ensure synchronization between neighboring pairs of drifters to ensure periodic rendezvous. The intermittent synchronization policy enables a locally connected network of minimally actuated mobile sensors to converge to a common orbit frequency. Robustness analysis against possible disturbance in practice and simulations are provided to illustrate the results.

Swarms of Pirates: Red Team Exercises Using Autonomous High-Speed Maneuvering Surface Vessels

“…Often these applications lend to systems with a large number of agents; for example, in Zoss et al (2018), a rule-based decentralized control algorithm is used to achieve collective behaviors, including flocking, navigation, and area coverage for swarms of up to 50 self-propelled buoys in open environments. At large scales, coordination between agents is focused on achieving connectivity in communication, such as Yu et al (2019), which simulates minimally actuated multi-agent systems with synchronized trajectories to maximize communication and form connected sensor networks in gyre-like flows.…”