Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication (CROSBI ID 280818)
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Podaci o odgovornosti
Vasiljević, Goran ; Petrović, Tamara ; Arbanas, Barbara ; Bogdan , Stjepan
engleski
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication
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.
Sensor Networks ; Networked Robots ; Marine Robotics
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Podaci o izdanju
Povezanost rada
Elektrotehnika, Temeljne tehničke znanosti