Synchronous Rendezvous for Networks of Active Drifters in Gyre Flows
We develop a synchronous rendezvous strategy for a network of minimally actuated mobile sensors or active drifters. The drifters are tasked 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 by leveraging the environmental dynamics in their monitoring 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 so 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.
KeywordsSynchronous rendezvous Marine robotics Coupled oscillators
This work was supported by the Office of Naval Research (ONR) grant N000141712690.
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