Infrastructure for large-scale tests in marine autonomy
Name
785723792-MIT.pdf
Description
Full printable version
Size
16.11 MB
Format
Adobe PDF
Checksum (MD5)
5265b55043cb3848084f94ae18b0de81
Author(s)
Hummel, Robert A. (Robert Andrew)
Advisor(s)
Franz S. Hover.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
This thesis focuses on the development of infrastructure for research with large-scale autonomous marine vehicle fleets and the design of sampling trajectories for compressive sensing (CS). The newly developed infrastructure includes a bare-bones acoustic modem and two types of low-cost and scalable vehicles. One vehicle is a holonomic raft designed for station-keeping and precise maneuvering, and the other is a streamlined kayak for traveling longer distances. The acoustic modem, like the vehicles, is inexpensive and scalable, providing the capability of a large-scale, low-cost underwater acoustic network. With these vehicles and modems we utilize compressive sensing, a recently developed framework for sampling sparse signals that offers dramatic reductions in the number of samples required for high fidelity reconstruction of a field. Our novel CS sampling techniques introduce engineering constraints including movement and measurement costs to better apply CS to sampling with mobile agents. The vehicles and modems, along with compressive sensing, strengthen the movement towards large scale autonomy in the ocean environment.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 141-147).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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