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Pregled bibliografske jedinice broj: 1070986

Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication


Vasiljević, Goran; Petrović, Tamara; Arbanas, Barbara; Bogdan , Stjepan
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication // IEEE Robotics and Automation Letters, 1 (2020), 1; 1, 8 doi:10.1109/LRA.2020.3007420 (međunarodna recenzija, članak, znanstveni)


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Naslov
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication

Autori
Vasiljević, Goran ; Petrović, Tamara ; Arbanas, Barbara ; Bogdan , Stjepan

Izvornik
IEEE Robotics and Automation Letters (2377-3766) 1 (2020), 1; 1, 8

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Sensor Networks ; Networked Robots ; Marine Robotics

Sažetak
In this paper, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consisting of underwater robots acting as intelligent sensors, applied to continuous monitoring of the state of a marine environment. The proposed protocol allows each agent to track the median value of individual measurements of all agents through local communication with neighbouring agents. Median is chosen as a measure robust to outliers, as opposed to average value, which is usually used. In contrast to the existing consensus protocols, the proposed protocol is dynamic, uses aswitching communication topology and converges to median of measured signals. Stability and correctness of the protocol are theoretically proven. The protocol is tested in simulation, and accuracy and influence of protocol parameters on the system output are analyzed. The protocol is implemented and validated by a set of experiments on an underwater group of robots comprising of aMussel units. This experimental setup is one of the first deployments of any type of consensus protocol for an underwater setting. Both simulation and experimental results confirm the correctness of the presented approach.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Citiraj ovu publikaciju

Vasiljević, Goran; Petrović, Tamara; Arbanas, Barbara; Bogdan , Stjepan
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication // IEEE Robotics and Automation Letters, 1 (2020), 1; 1, 8 doi:10.1109/LRA.2020.3007420 (međunarodna recenzija, članak, znanstveni)
Vasiljević, G., Petrović, T., Arbanas, B. & Bogdan , S. (2020) Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication. IEEE Robotics and Automation Letters, 1 (1), 1, 8 doi:10.1109/LRA.2020.3007420.
@article{article, year = {2020}, pages = {8}, DOI = {10.1109/LRA.2020.3007420}, chapter = {1}, keywords = {Sensor Networks, Networked Robots, Marine Robotics}, journal = {IEEE Robotics and Automation Letters}, doi = {10.1109/LRA.2020.3007420}, volume = {1}, number = {1}, issn = {2377-3766}, title = {Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication}, keyword = {Sensor Networks, Networked Robots, Marine Robotics}, chapternumber = {1} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
    • Emerging Sources Citation Index (ESCI)
  • Scopus


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