| Popis: |
This paper deals with the localization problem of an underwater robotic swarm in the context of the HARNESS project (Human telecontrolled Adaptive Robotic Network of SensorS) currently in progress in our laboratory. This system is based on cheap autonomous underwater vehicles (AUV) organized with swarm rules and conceived to perform tasks, ranging from environmental monitoring to terrorism attack surveillance. The key aims of the HARNESS project are: the development of a novel underwater acoustic channel with very high performances in routing and data throughput capacities; and the design of a reliable swarm rule-based control system with an interface dealing with a supervisor operator acting as a priority definition arbiter. A method to determine the shape of the swarm, based on trilateration calculation, is proposed. |
