Model-Based Adaptive Behavior Framework for Optimal Acoustic Communication and Sensing by Marine Robots
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Schmidt_Model-based.pdf
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1.51 MB
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25d81911c1d47d6630773d2b7dd2288d
Author(s)
Schneider, Toby
Schmidt, Henrik
Date Issued
July 2013
Journal
IEEE Journal of Oceanic Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Schneider, Toby, and Henrik Schmidt. “Model-Based Adaptive Behavior Framework for Optimal Acoustic Communication and Sensing by Marine Robots.” IEEE J. Oceanic Eng. 38, no. 3 (July 2013): 522–533.
Version
Original manuscript
Abstract
In this paper, a hybrid data- and model-based autonomous environmental adaptation framework is presented which allows autonomous underwater vehicles (AUVs) with acoustic sensors to follow a path which optimizes their ability to maintain connectivity with an acoustic contact for optimal sensing or communication. The adaptation framework is implemented within the behavior-based mission-oriented operating suite-interval programming (MOOS-IvP) marine autonomy architecture and uses a new embedded high-fidelity acoustic modeling infrastructure, the generic robotic acoustic model (GRAM), to provide real-time estimates of the acoustic environment under changing environmental and situational scenarios. A set of behaviors that combine adaptation to the current acoustic environment with strategies that extend the decision horizon beyond that of typical behavior-based systems have been developed, implemented, and demonstrated in a series of field experiments and virtual experiments in a MOOS-IvP simulation.
MIT Department
Massachusetts Institute of Technology. Center for Ocean Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/JOE.2012.2232492
