Pregled bibliografske jedinice broj: 1070986
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication
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)
CROSBI ID: 1070986 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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
Projekti:
EK-H2020-640967 - Podvodne kulture koje provode dugotrajno robotsko istraživanje nekonvencionalnih okoliša (subCULTron) (Mišković, Nikola, EK ) ( CroRIS)
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Profili:
Goran Vasiljević
(autor)
Barbara Arbanas Pascoal Ferreira
(autor)
Stjepan Bogdan
(autor)
Tamara Petrović
(autor)
Citiraj ovu publikaciju:
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