subCULTron - Cultural Development as a Tool in Underwater Robotics

Thenius, Ronald; Moser, Daniel; Varughese, Joshua Cherian; Kernbach, Serge; Kuksin, Igor; Kernbach, Olga; Kuksina, Elena; Mišković, Nikola; Bogdan, Stjepan; Petrović, Tamara; Babić, Anja; Boyer, Frédéric; Lebastard, Vincent; Bazeille, Stéphane; Ferrari, Graziano William; Donati, Elisa; Pelliccia, Riccardo; Romano, Donato; Vuuren, Godfried Jansen Van; Stefanini, Cesare; Morgantin, Matteo; Campo, Alexandre; Schmickl, Thomas

doi:10.1007/978-3-319-90418-4_3

Cited by 30 publications

(48 citation statements)

References 36 publications

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“…The subCULTron multi-agent system [ 30 ] was envisioned as an artificial marine ecosystem, aiming to reduce the need for boats and personnel manually deploying and collecting measuring instruments at sea by automating the deployment, reallocation, and collection of monitoring devices, as well as data acquisition. Besides its autonomy, this system has another significant advantage inherent to its large structure, which is the ability to measure environmental factors from multiple locations simultaneously and to reconfigure its topology dynamically.…”

Section: Materials and Methodsmentioning

confidence: 99%

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Babić

Lončar

Arbanas

et al. 2020

Sensors

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This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.

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Section: Materials and Methodsmentioning

confidence: 99%

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Babić

Lončar

Arbanas

et al. 2020

Sensors

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“…aMussels can only dive up to the water surface and down to the floor of a water body and have no other means of transportation of their own. In the field they are transported by a different type of robot, so-called ''aPads,'' which constitute a part of the heterogeneous robotic swarm within project subCULTron (Thenius et al, 2016). Accordingly, in the following experimental setup, aMussels can rather be viewed as stationary sensors.…”

Section: Robotic Experimentsmentioning

confidence: 99%

CIMAX: collective information maximization in robotic swarms using local communication

et al. 2020

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Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments, decentralized robotic swarms can be advantageous due to their high spatial resolution of measurements and resilience to failure of individuals in the swarm. However, such robotic swarms might need to be able to compensate misplacement during deployment or adapt to dynamical changes in the environment. Reaching a collective decision in a swarm with limited communication abilities without a central entity serving as decision-maker can be a challenging task. Here, we present the CIMAX algorithm for collective decision-making for maximizing the information gathered by the swarm as a whole. Agents negotiate based on their individual sensor readings and ultimately make a decision for collectively moving in a particular direction so that the swarm as a whole increases the amount of relevant measurements and thus accessible information. We use both simulation and real robotic experiments for presenting, testing, and validating our algorithm. CIMAX is designed to be used in underwater swarm robots for troubleshooting an oxygen depletion phenomenon known as “anoxia.”

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“…The EU Horizon 2020 FET project subCULTron [7] concerns itself with developing such a system and deploying it on an unsupervised mission of long-term marine monitoring and exploration, as presented in Figure 1. The subCULTron multi-agent system was envisioned as an artificial marine ecosystem.…”

Section: Introductionmentioning

confidence: 99%

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

et al. 2019

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This paper describes an underwater acoustic sensor network consisting of a heterogeneous robotic swarm used for long-term monitoring of underwater environments. The swarm consists of a large number of underwater robots acting as sensor nodes with limited movement capabilities, and a few surface robots aiding them in accomplishing underwater monitoring scenarios. Main interactions between two types of robots include underwater sensor deployment and relocation, energy and data exchange, and acoustic localisation aiding. Hardware capabilities of each vehicle are described in detail. Inter-agent communication is split into two layers: surface and underwater communication. Surface communication utilises wireless communication using WiFi routers configured for decentralised routing. Underwater communication mainly uses acoustic communication which, when used within a large swarm, poses a challenging task because of high probability of interference and data loss. The acoustic communication protocol used to prevent these issues is presented in detail. Finally, more complex functionalities of the robotic swarm are presented, including several results from real-life experiments.

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subCULTron - Cultural Development as a Tool in Underwater Robotics

Cited by 30 publications

References 36 publications

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

CIMAX: collective information maximization in robotic swarms using local communication

A Heterogeneous Robotic Swarm for Long-Term Monitoring of Marine Environments

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