多机器人系统在海洋监测中应用研究.pdfVIP

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ActiveDrifters:TowardsaPractical

Multi-RobotSystemforOcean

Monitoring

ArtemMolchanov,AndreasBreitenmoserandGauravS.Sukhatme

Abstract—Weproposeamethodforcontrollingmultipleactivedriftersinthepresenceof

externalforcinginducedbytheocean.Ouractivedriftershaveoneactuator:theycanlowerand

raisetheirdroguesindepth.Byexploitingtheverticallystratifiednatureofoceancurrents,we

showhowclassicalmulti-robottasks(spreadingoutandaggregation)canbeaccomplished