Cooperative autonomy for contact investigation
Name
Schmidt_Cooperative autonomy.pdf
Size
1.84 MB
Format
Adobe PDF
Checksum (MD5)
1eb180e6de6dfac24d71abd15e1f2496
Author(s)
Schmidt, Henrik
Pastore, Thomas
Benjamin, Michael
Schneider, Toby Edwin
Date Issued
May 2010
Journal
Proceedings of the OCEANS 2010 IEEE SYDNEY
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Schneider, Toby, Henrik Schmidt, Thomas Pastore, and Michael Benjamin. Cooperative Autonomy for Contact Investigation. In OCEANS 10 IEEE SYDNEY, 1-7. Institute of Electrical and Electronics Engineers, 2010.
Version
Final published version
Abstract
Autonomous surface and underwater vehicles present a safe and low-cost solution for various contact investigation tasks, such as harbor surveillance for potentially threatening small craft or submarines. Since such a task may involve many contacts of interest, such as all the normal boat traffic in a busy harbor, a single unmanned surface vehicle (USV) is unlikely to be able to reasonably investigate all the contacts. Instead, multiple USVs can be deployed to investigate contacts simultaneously. In this paper we present a system that performs this task using the MOOS-IvP autonomy infrastructure. The approach is analogous to “zone defense” in basketball, and only requires that each vehicle have knowledge of its collaborators' positions. The resulting network requires only requires a small amount of communication data to be transmitted, making it applicable in the often low-throughput ocean environment.
MIT Department
Massachusetts Institute of Technology. Center for Ocean Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/OCEANSSYD.2010.5603517
