A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments (CROSBI ID 262745)
Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Lončar, Ivan ; Babić, Anja ; Arbanas, Barbara ; Vasiljević, Goran ; Petrović, Tamara ; Bogdan, Stjepan ; Mišković, Nikola
engleski
A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments
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.
marine robotics ; swarm ; multi-vehicle system ; underwater acoustic sensor network ; cooperative control ; consensus ; formation control ; acoustic protocol
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Podaci o izdanju
Trošak objave rada u otvorenom pristupu
Povezanost rada
Elektrotehnika, Temeljne tehničke znanosti