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Pregled bibliografske jedinice broj: 993305

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments


Lončar, Ivan; Babić, Anja; Arbanas, Barbara; Vasiljević, Goran; Petrović, Tamara; Bogdan, Stjepan; Mišković, Nikola
A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments // Applied Sciences-Basel, 9 (2019), 7; 1388, 29 doi:10.3390/app9071388 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 993305 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

Autori
Lončar, Ivan ; Babić, Anja ; Arbanas, Barbara ; Vasiljević, Goran ; Petrović, Tamara ; Bogdan, Stjepan ; Mišković, Nikola

Izvornik
Applied Sciences-Basel (2076-3417) 9 (2019), 7; 1388, 29

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

Ključne riječi
marine robotics ; swarm ; multi-vehicle system ; underwater acoustic sensor network ; cooperative control ; consensus ; formation control ; acoustic protocol

Sažetak
This paper describes an underwater acoustic sensor network consisting of a heterogeneous robotic swarm used for long-term monitoring of underwater environments. The swarm consists of a large number of underwater robots acting as sensor nodes with limited movement capabilities, and a few surface robots aiding them in accomplishing underwater monitoring scenarios. Main interactions between two types of robots include underwater sensor deployment and relocation, energy and data exchange, and acoustic localisation aiding. Hardware capabilities of each vehicle are described in detail. Inter-agent communication is split into two layers: surface and underwater communication. Surface communication utilises wireless communication using WiFi routers configured for decentralised routing. Underwater communication mainly uses acoustic communication which, when used within a large swarm, poses a challenging task because of high probability of interference and data loss. The acoustic communication protocol used to prevent these issues is presented in detail. Finally, more complex functionalities of the robotic swarm are presented, including several results from real- life experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekti:
IP-2016-06-2082 - Kooperativna robotika u nadzoru i istraživanju mora (CroMarX) (Mišković, Nikola, HRZZ - 2016-06) ( POIROT)
EK-H2020-640967 - SUBMARINE CULTURES PERFORM LONG-TERM ROBOTIC EXPLORATION OF UNCONVENTIONAL ENVIRONMENTAL NICHES (subCULTron) (,, EK - H2020-FETPROACT-2014) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Poveznice na cjeloviti tekst rada:

doi www.mdpi.com

Citiraj ovu publikaciju:

Lončar, Ivan; Babić, Anja; Arbanas, Barbara; Vasiljević, Goran; Petrović, Tamara; Bogdan, Stjepan; Mišković, Nikola
A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments // Applied Sciences-Basel, 9 (2019), 7; 1388, 29 doi:10.3390/app9071388 (međunarodna recenzija, članak, znanstveni)
Lončar, I., Babić, A., Arbanas, B., Vasiljević, G., Petrović, T., Bogdan, S. & Mišković, N. (2019) A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments. Applied Sciences-Basel, 9 (7), 1388, 29 doi:10.3390/app9071388.
@article{article, author = {Lon\v{c}ar, Ivan and Babi\'{c}, Anja and Arbanas, Barbara and Vasiljevi\'{c}, Goran and Petrovi\'{c}, Tamara and Bogdan, Stjepan and Mi\v{s}kovi\'{c}, Nikola}, year = {2019}, pages = {29}, DOI = {10.3390/app9071388}, chapter = {1388}, keywords = {marine robotics, swarm, multi-vehicle system, underwater acoustic sensor network, cooperative control, consensus, formation control, acoustic protocol}, journal = {Applied Sciences-Basel}, doi = {10.3390/app9071388}, volume = {9}, number = {7}, issn = {2076-3417}, title = {A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments}, keyword = {marine robotics, swarm, multi-vehicle system, underwater acoustic sensor network, cooperative control, consensus, formation control, acoustic protocol}, chapternumber = {1388} }
@article{article, author = {Lon\v{c}ar, Ivan and Babi\'{c}, Anja and Arbanas, Barbara and Vasiljevi\'{c}, Goran and Petrovi\'{c}, Tamara and Bogdan, Stjepan and Mi\v{s}kovi\'{c}, Nikola}, year = {2019}, pages = {29}, DOI = {10.3390/app9071388}, chapter = {1388}, keywords = {marine robotics, swarm, multi-vehicle system, underwater acoustic sensor network, cooperative control, consensus, formation control, acoustic protocol}, journal = {Applied Sciences-Basel}, doi = {10.3390/app9071388}, volume = {9}, number = {7}, issn = {2076-3417}, title = {A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments}, keyword = {marine robotics, swarm, multi-vehicle system, underwater acoustic sensor network, cooperative control, consensus, formation control, acoustic protocol}, chapternumber = {1388} }

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


Citati:





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