Cooperative Level Curve Tracking in Advection-Diffusion Fields

2020 ◽  
Author(s):  
Sachin Guruswamy ◽  
Wencen Wu
Keyword(s):  
Level Curve ◽  
Advection Diffusion ◽  
Curve Tracking

scholarly journals LSTM-Enabled Level Curve Tracking in Scalar Fields Using Multiple Mobile Robots

2021 ◽  
Author(s):  
Kunj J. Parikh ◽  
Wencen Wu
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Sensor Network ◽  
Control Strategy ◽  
Scalar Fields ◽  
Level Curve ◽  
Mobile Sensor ◽  
Mobile Sensor Network ◽  
Level Curves ◽  
Curve Tracking

Abstract In this work, we investigate the problem of level curve tracking in unknown scalar fields using a limited number of mobile robots. We design and implement a long short term memory (LSTM) enabled control strategy for a mobile sensor network to detect and track desired level curves. Based on the existing work of cooperative Kalman filter, we design an LSTM-enhanced Kalman filter that utilizes the sensor measurements and a sequence of past fields and gradients to estimate the current field value and gradient. We also design an LSTM model to estimate the Hessian of the field. The LSTM enabled strategy has some benefits such as it can be trained offline on a collection of level curves in known fields prior to deployment, where the trained model will enable the mobile sensor network to track level curves in unknown fields for various applications. Another benefit is that we can train using larger resources to get more accurate models, while utilizing a limited number of resources when the mobile sensor network is deployed in production. Simulation results show that this LSTM enabled control strategy successfully tracks the level curve using a mobile multi-robot sensor network.

Larval Transport in the Coastal Zone: Biological and Physical Processes

2018 ◽  
Keyword(s):  
Simulation Models ◽  
Population Connectivity ◽  
Larval Transport ◽  
Larval Abundance ◽  
Transport Mechanisms ◽  
Larval Behavior ◽  
Physical Processes ◽  
Ecological Processes ◽  
Emergent Technologies ◽  
Advection Diffusion

Larval transport is fundamental to several ecological processes, yet it remains unresolved for the majority of systems. We define larval transport, and describe its components, namely, larval behavior and the physical transport mechanisms accounting for advection, diffusion, and their variability. We then discuss other relevant processes in larval transport, including swimming proficiency, larval duration, accumulation in propagating features, episodic larval transport, and patchiness and spatial variability in larval abundance. We address challenges and recent approaches associated with understanding larval transport, including autonomous sampling, imaging, -omics, and the exponential growth in the use of poorly tested numerical simulation models to examine larval transport and population connectivity. Thus, we discuss the promises and pitfalls of numerical modeling, concluding with recommendations on moving forward, including a need for more process-oriented understanding of the mechanisms of larval transport and the use of emergent technologies.

Sign in / Sign up

Export Citation Format

Share Document