Evaluating the capabilities of a flight-style swarm AUV to perform emergent and adaptive behaviours
Evaluating the capabilities of a flight-style swarm AUV to perform emergent and adaptive behaviours
Through simulation, this paper evaluates the capabilities of the EcoSUBμ, a small, low cost Autonomous Underwater Vehicle (AUV), to perform emergent and adaptive behaviours for environmental monitoring. It is assumed in realistic environments the vehicles cannot communicate simultaneously, leading to the development of a communication overhead. The limitations of an optical modem are found to be too extensive to conduct a flocking behaviour while an acoustic modem of increased range allows the EcoSUBμ to perform the flocking behaviour and locate a maxima, simulating tracking a chemical plume. The performance of large swarms degrades due to the communication overhead, whereas the performance of smaller swarms is comparable to an individual vehicle. The results highlight the heavy reliance of an emergent behaviour on communication and how the limitations of underwater communication mean this behaviour is unlikely to be suitable for the control of an AUV swarm in realistic ocean environments.
237–246
Lowndes, T.S.
bff331db-d2cf-48d5-821c-3972b48372e3
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Harris, C.A.
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Popova, E.
3ea572bd-f37d-4777-894b-b0d86f735820
20 July 2017
Lowndes, T.S.
bff331db-d2cf-48d5-821c-3972b48372e3
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Harris, C.A.
34cf0f4b-4e11-4ed2-a3ad-5596dd765572
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Chu, B.
555a86a5-0198-4242-8525-3492349d4f0f
Popova, E.
3ea572bd-f37d-4777-894b-b0d86f735820
Lowndes, T.S., Phillips, A.B., Harris, C.A., Rogers, Eric, Chu, B. and Popova, E.
(2017)
Evaluating the capabilities of a flight-style swarm AUV to perform emergent and adaptive behaviours.
Gao, Y.
(ed.)
In Towards Autonomous Robotic Systems. TAROS 2017.
vol. 10454,
Springer.
.
(doi:10.1007/978-3-319-64107-2_19).
Record type:
Conference or Workshop Item
(Paper)
Abstract
Through simulation, this paper evaluates the capabilities of the EcoSUBμ, a small, low cost Autonomous Underwater Vehicle (AUV), to perform emergent and adaptive behaviours for environmental monitoring. It is assumed in realistic environments the vehicles cannot communicate simultaneously, leading to the development of a communication overhead. The limitations of an optical modem are found to be too extensive to conduct a flocking behaviour while an acoustic modem of increased range allows the EcoSUBμ to perform the flocking behaviour and locate a maxima, simulating tracking a chemical plume. The performance of large swarms degrades due to the communication overhead, whereas the performance of smaller swarms is comparable to an individual vehicle. The results highlight the heavy reliance of an emergent behaviour on communication and how the limitations of underwater communication mean this behaviour is unlikely to be suitable for the control of an AUV swarm in realistic ocean environments.
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More information
Published date: 20 July 2017
Venue - Dates:
18th Annual Conference, TAROS 2017, Proceedings, , Guildford, United Kingdom, 2017-07-19 - 2017-07-21
Identifiers
Local EPrints ID: 472519
URI: http://eprints.soton.ac.uk/id/eprint/472519
PURE UUID: 178a4b7b-77c1-489c-b059-1785d05315bd
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Date deposited: 07 Dec 2022 17:46
Last modified: 17 Mar 2024 03:28
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Contributors
Author:
T.S. Lowndes
Author:
A.B. Phillips
Author:
C.A. Harris
Author:
Eric Rogers
Author:
B. Chu
Author:
E. Popova
Editor:
Y. Gao
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