Cooperative Control for Ocean Sampling: The Glider Coordinated Control System
Paley, D.A.; Zhang, F.; Leonard, N.E.
Control Systems Technology, IEEE Transactions on
Volume 16, Issue 4, July 2008 Page(s):735 - 744
Digital Object Identifier   10.1109/TCST.2007.912238
Summary:The glider coordinated control system (GCCS) uses a detailed glider model for prediction and a simple particle model for planning to steer a fleet of underwater gliders to a set of coordinated trajectories. The GCCS also serves as a simulation testbed for the design and evaluation of multivehicle control laws. In this brief, we describe the GCCS and present experimental results for a virtual deployment in Monterey Bay, CA and a real deployment in Buzzards Bay, MA.

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