Multi-domain monitoring of marine environments using a heterogeneous robot team

Shkurti, Florian; Xu, Anqi; Meghjani, Malika; Higuera, Juan Camilo Gamboa; Girdhar, Yogesh; Giguère, Philippe; Dey, Bir Bikram; Li, Jimmy; Kalmbach, Arnold; Prahacs, Chris; Turgeon, Katrine; Rekleitis, Ioannis; Dudek, Gregory

doi:10.1109/iros.2012.6385685

Cited by 114 publications

(59 citation statements)

References 13 publications

(17 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…al. [39]. In their paper titled "Multi-domain monitoring of marine environments using a heterogeneous robot team," Shkurti et.…”

Section: Robot Collaborationmentioning

confidence: 99%

“…Deploying a robot team comprised of a ground and an aerial vehicle enables an enhanced field of view while maintaining safe navigation and localization. Recent advances in robotics have made collaboration among a heterogeneous team of robots possible [39]. At the same time, many interesting problems associated with multi-robot collaborative exploration are being discussed, such as coordination, communication protocols, bandwidth constraints, etc.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Bird's eye view: Cooperative exploration by UGV and UAV

Hood

Benson

Hamod

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

View full text Add to dashboard Cite

“…al. [39]. In their paper titled "Multi-domain monitoring of marine environments using a heterogeneous robot team," Shkurti et.…”

Section: Robot Collaborationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bird's eye view: Cooperative exploration by UGV and UAV

Hood

Benson

Hamod

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

View full text Add to dashboard Cite

“…These benefits have attracted many researchers from academia and industry to investigate the applicability of MRS in many pertinent areas of industrial and commercial importance such as intelligent security [1], search and rescue [2], surveillance [3], humanitarian demining [4], environment monitoring [5,6] and health care [7].…”

Section: Introductionmentioning

confidence: 99%

Multi-robot Task Allocation: A Review of the State-of-the-Art

Khamis

Hussein

Elmogy

2015

Studies in Computational Intelligence

333

193

View full text Add to dashboard Cite

Multi-robot systems (MRS) are a group of robots that are designed aiming to perform some collective behavior. By this collective behavior, some goals that are impossible for a single robot to achieve become feasible and attainable. There are several foreseen benefits of MRS compared to single robot systems such as the increased ability to resolve task complexity, increasing performance, reliability and simplicity in design. These benefits have attracted many researchers from academia and industry to investigate how to design and develop robust versatile MRS by solving a number of challenging problems such as complex task allocation, group formation, cooperative object detection and tracking, communication relaying and self-organization to name just a few. One of the most challenging problems of MRS is how to optimally assign a set of robots to a set of tasks in such a way that optimizes the overall system performance subject to a set of constraints. This problem is known as Multi-robot Task Allocation (MRTA) problem. MRTA is a complex problem especially when it comes to heterogeneous unreliable robots equipped with different capabilities that are required to perform various tasks with different requirements and constraints in an optimal way. This chapter provides a comprehensive review on challenging aspects of MRTA problem, recent approaches to tackle this problem and the future directions.

show abstract

“…Research has already demonstrated the eectiveness of combining aerial and aquatic robotic operation by coordinating separate systems as a team for the monitoring of coral reefs [13], with an MAV using aerial video footage to guide and augment close observation by an aquatic vehicle. Murphy et al [10] also found that use of the MAV provided a more eective communication relay with the surface vehicle.…”

Section: Introductionmentioning

confidence: 99%

Launching the AquaMAV: bioinspired design for aerial–aquatic robotic platforms

Siddall¹,

Kovač²

2014

Bioinspir. Biomim.

131

View full text Add to dashboard Cite

Abstract.Current Micro Aerial Vehicles (MAVs) are greatly limited by being able to operate in air only. Designing multimodal MAVs that can y eectively, dive into the water and retake ight would enable applications of distributed water quality monitoring, search and rescue operations and underwater exploration. While some can land on water, no technologies are available that allow them to both dive and y, due to dramatic design trade-os that have to be solved for movement in both air and water and due to the absence of high-power propulsion systems that would allow a transition from underwater to air. In nature, several animals have evolved design solutions that enable them to successfully transition between water and air, and move in both media. Examples include ying fsh, ying squid, diving birds and diving insects. In this paper, we review the biological literature on these multimodal animals and abstract their underlying design principles in the perspective of building a robotic equivalent, the Aquatic Micro Air Vehicle (AquaMAV). Building on the inspire-abstract-implement bioinspired design paradigm, we identify key adaptations from nature and designs from robotics. Based on this evaluation we propose key design principles for the design of successful aerial-aquatic robots, i.e. using a plunge diving strategy for water entry, folding wings for diving eciency, water jet propulsion for water take-o and hydrophobic surfaces for water shedding and dry ight. Further, we demonstrate the feasibility of the water jet propulsion by building a proof of concept water jet propulsion mechanism with a mass of 2.6grams that can propel itself up to 4.8m high, corresponding to 72times its size. This propulsion mechanism can be used for AquaMAV but also for other robotic applications where high power density is of use, such as for jumping and swimming robots.

show abstract

Multi-domain monitoring of marine environments using a heterogeneous robot team

Cited by 114 publications

References 13 publications

Bird's eye view: Cooperative exploration by UGV and UAV

Bird's eye view: Cooperative exploration by UGV and UAV

Multi-robot Task Allocation: A Review of the State-of-the-Art

Launching the AquaMAV: bioinspired design for aerial–aquatic robotic platforms

Contact Info

Product

Resources

About