Collaborative tracking and control in time-dependent stochastic dynamical systems

We consider the problem of stochastic prediction and control in a time-dependent stochastic environment, such as the ocean, where escape from an almost invariant region occurs due to random fluctuations. Lagrangian Coherent Structures (LCS) are found using collaborative tracking, and a control policy is formulated that utilizes knowledge of the LCS. The control strategy enables mobile sensors to autonomously maintain a desired distribution in the environment, and is evaluated with experimental data.