Non-Gaussian estimation of a two-vortex flow using a Lagrangian sensor guided by output feedback control

This paper considers the closed-loop navigation of a hypothetical ocean-sampling vehicle in the presence of an idealized ocean-eddy pair. This problem embodies many of the challenges of spatiotemporal ocean sampling using minimally actuated Lagrangian sensors. We extend our existing guidance strategy known as the Boundary-Touring Algorithm (BTA) to steer a self-propelled vehicle to a unique streamline in a two-vortex flow. The Gaussian Mixture...