Optimal control of autonomous vehicles for velocity inference
Richard Moore
Department of Mathematical Sciences, NJIT,

Autonomous underwater vehicles, or gliders, offer flexible platforms for the collection of physical oceanography data, and are being deployed in a growing number of projects of scientific interest around the world. The gliders have a small capacity for locomotion but are strongly advected by a velocity field that they infer through noisy direct and indirect measurement. We discuss two approaches to implementing optimal control for the purpose of inferring a velocity field from observations taken from a vehicle moving with fixed relative speed.