Drifter Motion Planning for Optimal Surveillance of the Ocean Progress Report. Stochastic Prediction and Control in Multiscale Systems

摘要

The current problems of the proposal deal with littoral monitoring of large regions of the ocean using single or multiple gliders. This portion of the joint proposal with UCSB deals with the stochastic modeling and control of gliders in the ocean environment. Basically, the goals are to model stochastic flows on gliders, considered as particles forced by the ocean, and design optimal control to keep the gliders in a specific region. That is, the control will be designed to increase loitering time in a specified region. Without controls, the stochastic forcing of the environment will cause the gliders to leave the region of interest in finite time. Controls were designed to optimize the lifetime by minimizing the actuation intervals.