2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)最新文献

{"title":"Autonomous UUV control via tunably decentralized algorithms","authors":"K.M. Sullivan, S. Luke","doi":"10.1109/AUV.2004.1431192","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431192","url":null,"abstract":"We apply previous studied control algorithms to the cooperative target observation (CTO) task for multiple UUVs. The algorithms are based on k-means clustering and hill climbing, and each are scalable in the degree of decentralization. In the underwater formulation of the CTO problem, k-means is not sensitive to the degree of decentralization, while the hill climber is sensitive. Unlike in previous work, K-means outperformed hill-climbing across all environmental parameters.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126848645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Autonomous undersea systems network (AUSNet) - protocols to support ad-hoc AUV communications","authors":"C. Benton, J. Kenney, R. Nitzel, R. Blidberg, S. Chappell, S. Mupparapu","doi":"10.1109/AUV.2004.1431197","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431197","url":null,"abstract":"This paper reports progress within the AUSNET (autonomous undersea systems network) program. AUSNET addresses the need for ad-hoc self-forming networks that can operate in the low-bandwidth undersea environment. The AUSNET program has focused on creation of a network capability based on dynamic source routing (DSR), including the application programmer's interface (API) between the network drivers and the autonomous undersea applications using these drivers. The capability has been tested within the cooperative AUV development concept (CADCON) simulation environment, and. self-forming and adaptive network capabilities have been demonstrated. Additionally, the incorporation of dead reckoning algorithms into the AUSNET protocol has resulted in a dramatic reduction in the number network routing packets required to support the self-forming network, thus enabling improved performance and releasing bandwidth for content (as opposed to network support) data transmissions. Current efforts are focused on transition into an operational environment. The final objective of the AUSNET program is to provide a network capability that would enable the AUV community to achieve interoperability both rapidly and cost effectively.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114410279","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A simulation tool to support the development of adaptive sampling algorithms for multiple autonomous underwater vehicles","authors":"C.J. Cannell, D. Stilwell, J. Austin","doi":"10.1109/AUV.2004.1431203","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431203","url":null,"abstract":"This paper describes a computer simulation tool designed to aid in the development and evaluation of adaptive sampling algorithms for one or more autonomous underwater vehicles. The principal design goals of this tool are to efficiently assess adaptive sampling algorithms using data generated from oceanographic numerical models, and to automate the processes of uploading and managing oceanographic data within the simulation tool. Oceanographic data is represented using the computer and model independent network common data form format, a self-documenting data format, which is widely used within the oceanographic community. The simulation tool is developed in MATLAB and Simulink, which are standard modeling and simulation tools used by control systems engineers as well as researchers across a wide variety of engineering disciplines. Use of the network common data form enables the simulation tool to use oceanographic data from a variety of ocean modeling systems, while the use of MATLAB enables control algorithms and vehicle dynamics to be modular and easily modified.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125459929","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multiple AUV missions in the National Oceanic and Atmospheric Administration","authors":"J. Manley","doi":"10.1109/AUV.2004.1431188","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431188","url":null,"abstract":"Within NOAA, the Office of Ocean Exploration (OE) is supporting an ad-hoc community of programs interested in applying AUVs to the scientific and operational needs of the agency. Three NOAA programs, in collaboration with OE, are in various stages of procuring AUVs for demonstration projects. These pilot projects would evaluate the benefits of AUVs in NOAA missions. Even though evaluations have just begun they point the way toward the use of multiple AUVs in NOAA. This paper briefly describes the current AUV programs and presents a vision for their expansion into cooperative or coordinated multiple AUV missions.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116010085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multi-UUV perimeter surveillance","authors":"M. Kemp, A. Bertozzi, D. Marthaler","doi":"10.1109/AUV.2004.1431200","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431200","url":null,"abstract":"We develop two algorithms for the surveillance of underwater perimeters by a group of unmanned vehicles, and compare their performance.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129543143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Lane finding using homogeneous groups of cooperating autonomous vehicles","authors":"S. Redfield","doi":"10.1109/AUV.2004.1431189","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431189","url":null,"abstract":"This paper describes the problem of finding a clear lane through a potentially mined region. Using a group of cooperating AUVs, we propose several solutions and compare their advantages and disadvantages. The goal is to find straight paths clear of obstacles from one edge of a rectangular search area to the other. Homogeneous robots are used to find paths clear of all obstacles. The number of robots, their communications abilities and their sensory abilities are varied. The interleaved method shows the effectiveness of a team of interleaved robots working their way across the region. In this approach, the robots start in neighboring swaths and as they find blocked swaths (blocked by either a mine or-an obstacle) they break off and move to a new swath. This approach uses the least shared information and results in long search times that decrease predictably with the number of robots used and with the width of the sensor swath. The regional method takes a different approach, where each robot is assigned a single territory within the search area. There is little cooperation between robots; one robot would only change its path if information from its neighbor indicates the possible presence of a clear lane in a new area within its region. Search times using this approach tend to be long, and cooperation rarely shortens the search time. Preliminary results show that this cooperative approach can substantially increase the time necessary to survey the region if there are partial lanes at region boundaries. However, the regional simulation also shows a substantial decrease in the amount of time it takes to determine whether or not clear lanes are possible, compared to the interleaved approach. In the hybrid method the search area is divided into smaller regions, defined as a specific number of swaths. The robots are initially assigned to neighboring regions, and as a region is invalidated or completed, the affected robot would move to the next unassigned region. This approach forms a bridge, with the interleaved approach at one extreme (one swath per region) and the regional approach at the other (total number of swaths/number of robots per region). All three approaches were simulated in ALWSE MATLAB. The hybrid approach was also implemented in autonomous ground vehicles as a physical simulation before implementation in target (amphibious) hardware.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130183879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multi-AUV control and adaptive sampling in Monterey Bay","authors":"E. Fiorelli, Naomi Ehrich Leonard, Pradeep Bhatta, Derek A. Paley, Ralf Bachmayer, David M. Fratantoni","doi":"10.1109/AUV.2004.1431204","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431204","url":null,"abstract":"Multi-AUV operations have much to offer a variety of underwater applications. With sensors to measure the environment and coordination that is appropriate to critical spatial and temporal scales, the group can perform important tasks such as adaptive ocean sampling. We describe a methodology for cooperative control of multiple vehicles based on virtual bodies and artificial potentials (VBAP). This methodology allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking in an uncertain environment. We discuss our implementation on a fleet of autonomous underwater gliders and present results from sea trials in Monterey Bay in August 2003. These at-sea demonstrations were performed as part of the Autonomous Ocean Sampling Network (AOSN) II project.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125964436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Use of artificial potential fields for UAV guidance and optimization of WLAN communications","authors":"P. Douglas, Healey","doi":"10.1109/AUV.2004.1431198","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431198","url":null,"abstract":"Wireless local area networks (WLAN) are quickly becoming an important part of regional military operations. The use of standardized Internet protocols enables a wide variety of vehicles, sensors and personnel to interoperate more effectively. For autonomous underwater vehicles (AUV), they permit a potentially great improvement to distribute outputs from data intensive sensors like sonar and video to observers. For a fleet of AUVs tasked with area underwater search and survey, WLANs can facilitate situational awareness, re-tasking and expedience.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115430233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A leader-follower algorithm for multiple AUV formations","authors":"Dean B. Edwards, T. Bean, D. Odell, Michael Anderson","doi":"10.1109/AUV.2004.1431191","DOIUrl":"https://doi.org/10.1109/AUV.2004.1431191","url":null,"abstract":"In the future, it may be possible to employ large numbers of autonomous marine vehicles to perform tedious and dangerous tasks, such as minesweeping. Hypothetically, groups of vehicles may leverage their numbers by cooperating. A fundamental form of cooperation is to perform tasks while maintaining a geometric formation. The formation behavior can then enable other cooperative behaviors. In this paper, we describe a leader-follower formation-flying control algorithm. This algorithm can be applied to one-, two-, and three dimensional formations, and contains a degree of built-in robustness. Simulations and experiments are described that characterize the performance of the formation control algorithm. The experiments utilized surface craft that were equipped with an acoustic navigation and communication system, representative of the technologies that constrain the operation of underwater autonomous vehicles. The simulations likewise included the discrete-time nature of the communication and navigation.","PeriodicalId":261603,"journal":{"name":"2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122360870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}