An Aquatic Mobile Sensing USV Swarm with a Link Quality-Based Delay Tolerant Network

Abstract

The Smart City concept is starting to extend into maritime environments alongside with the increase of Unmanned Surface Vehicles (USV) models on the market. Consequently, by joining both Smart City and USV technologies, a set of platforms and applications for aquatic environments are emerging. This work proposes a low-cost aquatic mobile sensing platform for data gathering with a swarm of USVs communicating through a Delay-Tolerant Network (DTN). A set of DTN link quality-based routing strategies select the best quality path in a dynamic approach so the sensed information is able to reach the mobile gateway in a reliable way. A Link Quality Estimation (LQE) approach is proposed and its accuracy is evaluated through real experimentation. An aquatic simulation environment, considering both navigation and communication layers, was also proposed and used to evaluate the performance of the proposed routing strategies, and complement real environment performance studies.

Underwater Simulators Analysis for Digital Twinning

“…"Risk" means the probability that a hardware or software can fault or a change in environmental conditions. A lowcost platform to simulate wireless communication between surface vehicles was created starting from UUV Simulator [147]. It consists of a network module that connects all the USVs in which routing strategies have been implemented to exchange messages with each other with the shortest possible delay.…”

A Platform of Unmanned Surface Vehicle Swarms for Real Time Monitoring in Aquaculture Environments

“…DTNs were designed for heterogeneous networks that may have connection disruption. This platform implements the mOVE architecture supporting IEEE 802.11a/b/g (Wi-Fi technology) and others, with a link quality-based routing strategy proposed in Reference [32]. This routing strategy has a replication avoidance mechanism and it has been proven to be better among other routing strategies for these types of scenarios.…”

“…This section presents a case study used to assess the performance of the platform with respect to the energy autonomy, connectivity, processing delay and mission delegation. The routing protocol and mechanisms required to assure the USV-USV communication by the means of a Delay Tolerant Network were already evaluated in Reeference [32] and they are out of scope of this work. Moreover, the navigation algorithm was evaluated in Reference [30].…”

Sistem Pendeteksian Rintangan untuk Kapal Tak Berawak dengan Kombinasi Deteksi Tepi, Transformasi Hough dan Deteksi Saliensi

“…Tantangan dalam pengembangan sistem pendeteksian rintangan berbasis citra bagi kapal tak berawak ukuran kecil adalah performa komputasi yang terbatas. Proses komputasi pada kapal tak berawak jenis ini biasanya ditenagai oleh sistem tertanam yang tidak memiliki kapasitas komputasi yang besar [4], [5]. Namun metode deteksi rintangan berbasis pengolahan citra yang banyak berkembang adalah metode berbasis kecerdasan artifisial [6], [7].…”