Cooperative swarm behaviour for in situ underwater environmental measurements

Autor:	Cedric Isokeit, Benjamin Meyer, Erik Maehle
Rok vydání:	2017
Předmět:	Engineering business.industry Real-time computing Robot control architecture Swarm behaviour Robot Underwater Heuristics business Simulation
Zdroj:	OCEANS 2017 - Aberdeen.
DOI:	10.1109/oceanse.2017.8084674
Popis:	This paper presents an approach to perform comprehensive in situ environmental measurements in shallow waterbodies with the help of a swarm of small and flexible autonomous underwater vehicles (AUVs). To perform simultaneous measurements at different locations, the mission is automatically subdivided amongst the robots using a rule-based robot control architecture and special heuristics depending on internal robot states. This allows a significantly larger coverage of CTD measurements reducing costs on the one hand and minimizing the overall mission times on the other hand.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::93883ad2785af30896b2e50727474fe8 https://doi.org/10.1109/oceanse.2017.8084674 Zobrazit plný text záznamu