Naslov
Consensus Protocol for Underwater Multi-Robot System Using Scheduled Acoustic Communication

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) / - , 2018, 1-5

ISBN
978-1-5386-1654-3

Skup
OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO 2018))

Mjesto i datum
Kobe, Japan, 28.05.2018. - 31.05.2018

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
konsenzus protokol, akustička komunikacija, podvodni roboti
(consensus protocol, acoustic communication, underwater robots)

Sažetak
In this paper, we present a newly developed consensus protocol for an underwater multi- robot system using acoustic communication. The approach is motivated by a system in which robots, called aMussels, are dispersed in the environment and measure its properties over longer periods of time. They communicate via acoustic modems using a simple sequenced communication protocol. The classical average consensus protocol has been modified to suit these conditions. The performance of the algorithm is analyzed in a simulation testbed, where we examine its properties and show the convergence of the method. The protocol is then applied to the real system in an underwater experiment, where we demonstrate its convergence in realistic conditions.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA