Design of an autonomous surface vehicle (ASV) for swarming application

Majid, M. H. A.; Arshad, Mohd Rizal

doi:10.1109/auv.2016.7778676

Cited by 13 publications

(8 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Next, we study how the performance of our approach (i.e., how fast and reliably a particular mission is carried out) changes when varying the MT length and the swarm sizes. We present results obtained in simulation and real-robot experiments where the MT length n is varied in the set [2,4,5,6,7,8] (simulation) and [2,4,8] (real) and the swarm sizes R n in the interval 1 ≤ R n ≤ 16. In addition, the amount of communication (AC; i.e., the total amount of data that robots exchanged during the mission) and information diversity (I e ; i.e., how widely spread information is within the swarm) metrics are calculated and presented.…”

Section: Fig 2 Encapsulating Swarm Robotics Missions Into Mts (A)mentioning

confidence: 99%

“…Swarm robotics systems (1) have the potential to revolutionize many industries, from targeted material delivery (2) to precision farming (3,4). Boosted by technical breakthroughs, such as cloud computing (5,6), novel hardware design (7)(8)(9), and manufacturing techniques (10,11), swarms of robots are envisioned to play an important role in both industrial (12) and urban (13,14) activities. The emergence of robot swarms has been acknowledged as 1 of the 10 robotics grand challenges for the next 5 to 10 years that will have substantial socioeconomic impact.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Secure and secret cooperation in robot swarms

et al. 2021

View full text Add to dashboard Cite

The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be developed. This work introduces a method to encapsulate cooperative robotic missions in an authenticated data structure known as a Merkle tree. With this method, operators can provide the “blueprint” of the swarm’s mission without disclosing its raw data. In other words, data verification can be separated from data itself. We propose a system where robots in a swarm, to cooperate toward mission completion, have to “prove” their integrity to their peers by exchanging cryptographic proofs. We show the implications of this approach for two different swarm robotics missions: foraging and maze formation. In both missions, swarm robots were able to cooperate and carry out sequential tasks without having explicit knowledge about the mission’s high-level objectives. The results presented in this work demonstrate the feasibility of using Merkle trees as a cooperation mechanism for swarm robotics systems in both simulation and real-robot experiments, which has implications for future decentralized robotics applications where security plays a crucial role.

show abstract

Section: Fig 2 Encapsulating Swarm Robotics Missions Into Mts (A)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Secure and secret cooperation in robot swarms

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Recently, a study on the autonomous robotic system has gained popularity in various fields. 10 Vitor et al 11 give a detail survey on agent for disaster which include robotics disaster management, general surveys regarding agents, navigation, higher level autonomy, structure inspection and environmental monitoring. Most autonomous agents are designed to operate in oceans, rivers and lakes.…”

Section: References Reviewmentioning

confidence: 99%

Adaptive agent tracking approach for oil contamination in water environments

Huang

Chen

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The online monitoring of water environments is urgently needed. A feasible and effective approach is the use of agents. Water environments, similar to other real-world environments, present many changing and unpredictable situations. To ensure flexibility in such an environment, agents should be prepared to deal with various situations. In this study, we focused on an adaptive agent tracking approach for oil contamination. An integrated tracking framework, which is used to track the moving contour of oil pollution via a system comprising multiple unmanned surface vehicles, is proposed. The zigzag, unmanned underwater vehicle-gas, cloverleaf trajectory and curvature-weighted deployment algorithm methods are employed with consideration of their suitability to our approach. A cyclic particle swarm optimisation–Kalman method is also proposed. The possible position of moving vertices is predicted by the Kalman filter, and an objective search region is generated around the centre position. Moreover, particle swarm optimisation is performed to search for the best target position in this region. This particle swarm optimisation–Kalman method is circle operated to compensate for the deficiency of a few agents. To evaluate the approach, we conduct usability and performance simulations.

show abstract

“…However, AUVs cannot directly acquire global navigation satellite system (GNSS) signals due to the strong attenuation of radio waves in water. Therefore, it is necessary to deploy base stations, such as ships, buoys, and autonomous vessels, on the sea surface [2][3][4][5]. However, it is not easy for sea-surface systems to follow AUVs because they drift due to disturbances such as waves and wind.…”

Section: Introductionmentioning

confidence: 99%

Underwater Communication Using UAVs to Realize High-Speed AUV Deployment

Yokota

Matsuda

2021

Remote Sensing

View full text Add to dashboard Cite

To monitor ocean and seafloor properties in detail, sensors are generally installed on autonomous underwater vehicles (AUVs). An AUV cannot accurately determine its absolute position and needs to communicate with a sea-surface vehicle. However, sea-surface vehicles cannot perform high-speed observations with high efficiency due to their low mobility and high labor and equipment costs, e.g., vessel charter charges, operator restraint time on the sea surface during observations, etc. From this perspective, unmanned aerial vehicles (UAVs) have potential as the next-generation communication platform. In this study, we conducted a demonstration experiment to use UAV as a sea-surface base for underwater communication with an AUV. We investigated the capability of a UAV to land on the sea surface, drift like a buoy to receive underwater data, and finally lift off to return to its base. The experimental results suggest that UAVs provide suitable communication performance for research near the shore in terms of robust hovering control, stability against sway, and operation speed. To carry out more complicated work (such as transportation) of UAVs, further research in areas such as weight reduction is required.

show abstract

Design of an autonomous surface vehicle (ASV) for swarming application

Cited by 13 publications

References 12 publications

Secure and secret cooperation in robot swarms

Secure and secret cooperation in robot swarms

Adaptive agent tracking approach for oil contamination in water environments

Underwater Communication Using UAVs to Realize High-Speed AUV Deployment

Contact Info

Product

Resources

About