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dc.contributor.authorSzwaykowska, Klementyna
dc.contributor.authorZhang, Fumin
dc.date.accessioned2014-02-19T16:42:31Z
dc.date.available2014-02-19T16:42:31Z
dc.date.issued2013
dc.identifier.citationK. Szwaykowska and Fumin Zhang, "Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction," in Proc. 2013 American Control Conference (ACC 2013), 2581-2586, 2013.en_US
dc.identifier.isbn978-1-4799-0177-7
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1853/51145
dc.description©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the American Control Conference (ACC 2013), 17-19 June 2013, Washington, D.C.
dc.description.abstractIn this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled trajectory of the system and derive an exact expression for the linearized error in the case of constant modeled ocean flow. We show that this simple error model can be used to estimate error in predicted positions of autonomous vehicles, using data from a field deployment of autonomous underwater gliders in Long Bay, SC, in winter 2012.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAutonomous underwater vehiclesen_US
dc.subjectControlled Lagrangian particle trackingen_US
dc.subjectModel-based controlen_US
dc.subjectModeling errorsen_US
dc.subjectOcean flowen_US
dc.subjectOceanographyen_US
dc.subjectStochastic systemen_US
dc.subjectVehicle dynamicsen_US
dc.titleControlled Lagrangian Particle Tracking Error Under Biased Flow Predictionen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.embargo.termsnullen_US


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