1. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 1 Cooperative Control and Mobile Sensor Networks Application to Mobile Sensor Networks, Part I Naomi Ehrich Leonard Mechanical and Aerospace Engineering Princeton University and Electrical Systems and Automation University of Pisa naomi@princeton.edu, www.princeton.edu/~naomi www.princeton.edu/~naomi

2. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 2 Outline 1.Introduction to cooperative control and mobile sensor networks 2.Cooperative control, part I Virtual bodies and artificial potentials (VBAP) Virtual tensegrity structures Coordination of mechanical system networks Curvature control and level set tracking 3.Application to mobile sensor networks, part I Adaptive gradient climbing; curve tracking; contour plots; adaptation of sampling resolution 4.Cooperative control, part II Coupled oscillator dynamics and collective motion Consensus dynamics and collective motion with limited communication. Extensions and new directions: multi-scale, resonant patterns, oscillatory speeds. 5.Application to mobile sensor networks, part II Coverage and adaptive sampling 6.Implementation of glider coordinated control system. 7.Connections to collective motion of animal groups (time permitting)

3. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 3 Reference 1.E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley, R. Bachmayer and D. Fratantoni, Multi-AUV control and adaptive sampling in Monterey Bay, IEEE J. Oceanic Engineering, 31:4, pages 935-948, 2006.

4. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 4 Aug 6-7, 2003 Glider temperature profiles Aug 6-7, 2003 August 6 Coordinated Sea Trial

5. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 5 Aug 16, 2003 August 16 Coordinated Glider Sea Trial Average inter-vehicle spacing

6. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 6 Aug. 6, 2003 Results 5 m 30 m

7. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 7 Aug. 16, 2003 Results 5 m 30 m

8. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 8 Exploring Scalar Fields lon. lat. -122.6-122.5-122.4-122.3-122.2 36.8 36.9 37.0 37.1 Temperature at -20m near Monterey Bay With Fumin Zhang

9. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 9 Exploring Scalar Fields time (hrs) temperature

10. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 10 Front Definition Thermal Front Parameter (TFP) Thermal Front Warm / Cold Fronts Red Tides and Algal Blooms With Francois Lekien and Eddie Fiorelli

11. N.E. Leonard – U. Pisa – 18-20 April 2007 Slide 11 Front Tracking Formation maintains optimal shape to estimate gradient, … Virtual beacon tracks the front