Thumbnail
Access Restriction
Open

Author Keeter, Matthew ♦ Moore, Daniel ♦ Muller, Ryan ♦ Nieters, Eric ♦ Flenner, Jennifer ♦ Martonosi, Susan E. ♦ Bertozzi, Andrea L. ♦ Percus, Allon G. ♦ Levy, Rachel
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Cooperative Search ♦ Aquatic Testbed ♦ Autonomous Vehicle ♦ Multiple Randomized Algorithm ♦ Point-topoint Controller ♦ Reliable Communication ♦ Remote-controlled Submarine ♦ Real Physical Condition ♦ Three-dimensional Bounded Environment ♦ Autonomous Aquatic Vehicle ♦ Buoyancy Limitation ♦ Proof-of-concept Demonstration ♦ In-tank Test ♦ Vy Flight ♦ Severe Control ♦ Sparse Target ♦ Nonrandom Systematic Search
Abstract Abstract — We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-topoint controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Lévy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions. I.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study