Consensus Protocol for Underwater Multi-Robot System Using Scheduled Acoustic Communication (CROSBI ID 676037)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Arbanas, Barbara ; Petrović, Tamara ; Bogdan, Stjepan
engleski
Consensus Protocol for Underwater Multi-Robot System Using Scheduled Acoustic Communication
In this paper, we present a newly developed consensus protocol for an underwater multi- robot system using acoustic communication. The approach is motivated by a system in which robots, called aMussels, are dispersed in the environment and measure its properties over longer periods of time. They communicate via acoustic modems using a simple sequenced communication protocol. The classical average consensus protocol has been modified to suit these conditions. The performance of the algorithm is analyzed in a simulation testbed, where we examine its properties and show the convergence of the method. The protocol is then applied to the real system in an underwater experiment, where we demonstrate its convergence in realistic conditions.
consensus protocol, acoustic communication, underwater robots
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Podaci o prilogu
1-5.
2018.
objavljeno
10.1177/0142331216656757
Podaci o matičnoj publikaciji
Proceedings of the 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)
978-1-5386-1654-3
Podaci o skupu
OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO 2018))
predavanje
28.05.2018-31.05.2018
Kobe, Japan