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We address the synthesis of distributed control policies to enable a swarm ofhomogeneous mobile sensors to maintain a desired spatial distribution in ageophysical flow environment, or workspace. In this article, we assume themobile sensors (or robots) have a "map" of the environment denoting thelocations of the Lagrangian coherent structures or LCS boundaries. Based onthis information, we design agent-level hybrid control policies that leveragethe surrounding fluid dynamics and inherent environmental noise to enable theteam to maintain a desired distribution in the workspace. We establish thestability properties of the ensemble dynamics of the distributed controlpolicies. Since realistic quasi-geostrophic ocean models predict double-gyreflow solutions, we use a wind-driven multi-gyre flow model to verify thefeasibility of the proposed distributed control strategy and compare theproposed control strategy with a baseline deterministic allocation strategy.Lastly, we validate the control strategy using actual flow data obtained by ourcoherent structure experimental testbed.

Distributed allocation of mobile sensing swarms in gyre flows