Communications and Digital Signal Processing (CDSP) Center Lecture
Tues, Nov 19, 2013
Location: 306 Egan
Time: 4:00 pm - 5:00 pm
Franz Hover Finmeccanica, Associate Professor
Center for Ocean Engineering
Department of Mechanical Engineering
Massachusetts Institute of Technology
PLUME-CHASERS: Designing Fast Robot Teams Underwater
ABSTRACT Pursuit is a general class of perception and control problems defined by critical space and time scales: a follower that cannot maintain adequate real-time performance will simply be unable to keep up. Autonomous pursuit missions in the ocean include tracking of a marine vehicle or animal, and monitoring a large-scale ocean process like an oil plume or chemical front. The opportunity for multi-vehicle sensing systems to contribute is clear, but wireless communication has been a perennial bottleneck that prevents truly dynamic operation. Network-based control, a major research area over the last ten years, offers some solutions since packet loss, quantization, and delay are all relevant to acoustic modems in use today.
I will discuss some of the framework and leading approaches for disciplined design of marine vehicle teams operating under severe communication constraints. Our work includes the multi-armed bandit for stochastic adaptive positioning, target pursuit with joint estimation and coordinated control through acoustic modems, and an extension of target pursuit to follow ocean features. The integrated “plume-chaser” mission is made possible by projecting a predictive field model onto vehicle coordinates, and applying strong synthesis tools within a linear time-invariant framework.
Host: Milica Stojanovic, Professor at Northeastern University, Department of Electrical and Computer Engineering.
25th Annual Communications Digital Signal Processing Center (CDSP) Research Workshop
Friday, March 28th 2014
Location: Curry Student Center Ballroom
Time: 8:30 AM to 3:00 PM
The workshop program and registration information will be posted at http://www.cdsp.neu.edu/
For further details contact: Joan Pratt