Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets

Autores
Mahacek, Paul; Kitts, Christopher A.; Mas, Ignacio Agustin
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.
Fil: Mahacek, Paul. Santa Clara University; Estados Unidos
Fil: Kitts, Christopher A.. Santa Clara University; Estados Unidos
Fil: Mas, Ignacio Agustin. Santa Clara University; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
CLUSTER SPACE
COLLABORATIVE CONTROL
FORMATION CONTROL
MULTIROBOT SYSTEMS
ROBOT TEAMS
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/190029
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel FleetsMahacek, PaulKitts, Christopher A.Mas, Ignacio AgustinCLUSTER SPACECOLLABORATIVE CONTROLFORMATION CONTROLMULTIROBOT SYSTEMSROBOT TEAMShttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.Fil: Mahacek, Paul. Santa Clara University; Estados UnidosFil: Kitts, Christopher A.. Santa Clara University; Estados UnidosFil: Mas, Ignacio Agustin. Santa Clara University; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInstitute of Electrical and Electronics Engineers2012-02info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/190029Mahacek, Paul; Kitts, Christopher A.; Mas, Ignacio Agustin; Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets; Institute of Electrical and Electronics Engineers; IEEE/ASME Transactions on Mechatronics; 17; 1; 2-2012; 65-751083-4435CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/6097059info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2011.2174376info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:15:13Zoai:ri.conicet.gov.ar:11336/190029instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 11:15:14.229CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
title Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
spellingShingle Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
Mahacek, Paul
CLUSTER SPACE
COLLABORATIVE CONTROL
FORMATION CONTROL
MULTIROBOT SYSTEMS
ROBOT TEAMS
title_short Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
title_full Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
title_fullStr Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
title_full_unstemmed Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
title_sort Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets
dc.creator.none.fl_str_mv Mahacek, Paul
Kitts, Christopher A.
Mas, Ignacio Agustin
author Mahacek, Paul
author_facet Mahacek, Paul
Kitts, Christopher A.
Mas, Ignacio Agustin
author_role author
author2 Kitts, Christopher A.
Mas, Ignacio Agustin
author2_role author
author
dc.subject.none.fl_str_mv CLUSTER SPACE
COLLABORATIVE CONTROL
FORMATION CONTROL
MULTIROBOT SYSTEMS
ROBOT TEAMS
topic CLUSTER SPACE
COLLABORATIVE CONTROL
FORMATION CONTROL
MULTIROBOT SYSTEMS
ROBOT TEAMS
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.
Fil: Mahacek, Paul. Santa Clara University; Estados Unidos
Fil: Kitts, Christopher A.. Santa Clara University; Estados Unidos
Fil: Mas, Ignacio Agustin. Santa Clara University; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.
publishDate 2012
dc.date.none.fl_str_mv 2012-02
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/190029
Mahacek, Paul; Kitts, Christopher A.; Mas, Ignacio Agustin; Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets; Institute of Electrical and Electronics Engineers; IEEE/ASME Transactions on Mechatronics; 17; 1; 2-2012; 65-75
1083-4435
CONICET Digital
CONICET
url http://hdl.handle.net/11336/190029
identifier_str_mv Mahacek, Paul; Kitts, Christopher A.; Mas, Ignacio Agustin; Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets; Institute of Electrical and Electronics Engineers; IEEE/ASME Transactions on Mechatronics; 17; 1; 2-2012; 65-75
1083-4435
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/6097059
info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2011.2174376
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.229304

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