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dc.contributor.authorGrasso, Raffaele
dc.contributor.authorBraca, Paolo
dc.contributor.authorFortunati, Stefano
dc.contributor.authorGini, Fulvio
dc.contributor.authorGreco, Maria S.
dc.date.accessioned2019-06-21T12:35:05Z
dc.date.available2019-06-21T12:35:05Z
dc.date.issued2019/06
dc.identifier.govdocCMRE-PR-2019-128en_US
dc.identifier.urihttp://hdl.handle.net/20.500.12489/868
dc.description.abstractA distributed coordinated dynamic sensor network for optimal environmental field estimation is proposed and tested on simulated and real data. The architecture is used to distribute the estimation of 3D timevarying fields on a network of underwater gliders in which communication constraints are one of the main limiting factors for achieving complete network automation and de-centralization. The dynamic network is integrated with a network of relay nodes that the agents can reach at the surface through satellite or radio links. Local field statistics are estimated by a Kalman filter-based algorithm by agents and the information in the network is shared by using the asynchronous consensus algorithm. The system is tested on realistic scenarios that are simulated by true oceanographic forecast models. A heterogeneous network of underwater and surface wave gliders is used to estimate 3D sea water temperature fields. Simulation results show that the network achieves a consensus with an average root mean square error at steady state that is below 0.5 °C.en_US
dc.format7 p. : ill. ; digital, PDF fileen_US
dc.language.isoenen_US
dc.publisherCMREen_US
dc.source
dc.sourceIn: Proceedings of the OCEANS 2015 MTS/IEEE Conference, 18-21 May 2015, Genoa, Italy, doi: 10.1109/OCEANS-Genova.2015.7271659en_US
dc.subjectUnderwater glidersen_US
dc.subjectSensor networksen_US
dc.subjectPhysical oceanographyen_US
dc.subjectSeawater thermal propertiesen_US
dc.subjectSeawater physical propertiesen_US
dc.subjectModelling and environmental measurementsen_US
dc.subjectKalman filteringen_US
dc.subjectDistributed data management and processingen_US
dc.subjectOceanography - Observations - Data processingen_US
dc.subjectOceanography - Research - Data processingen_US
dc.titleDistributed underwater glider network with consensus Kalman filter for environmental field estimationen_US
dc.typeReprint (PR)en_US
dc.typePapers and Articlesen_US


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