The SWARMs Approach to Integration of Underwater and Overwater Communication Sub-Networks and Integration of Heterogeneous Underwater Communication Systems

Pacini, Francesco; Paoli, Giacomo Persi; Cayón, Iván; Rivera, Tamara; Sarmiento, Beatriz; Кебкал, К.Г.; Kebkal, Oleksiy; Kebkal, Veronika; Geelhoed, Joost; Schipperijn, Bart; Dol, Henry; Skogseth, Torstein

doi:10.1115/omae2018-78772

Cited by 3 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although, in recent years there has been an improvement in the communications between the AUVs and the control stations where a global mission control can be running [21,41], enabling other possible responses to the "where" question. For instance, the self-adaptation could be considered:…”

mentioning

confidence: 99%

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

et al. 2020

View full text Add to dashboard Cite

Almost every research project that focuses on the cooperation of autonomous robots for underwater operations designs their own architectures. As a result, most of these architectures are tightly coupled with the available robots/vehicles for their respective developments, and therefore the mission plan and management is done using an ad-hoc solution. Typically, this solution is tightly coupled to just one underwater autonomous vehicle (AUV), or a restricted set of them selected for the specific project. However, as the use of AUVs for underwater operations increases, there is the need to identify some commonalities and weaknesses of these architectures, specifically in relation to mission planning and management. In this paper, we review a selected number of architectures and frameworks that in one way or another make use of different approaches to mission planning and management. Most of the selected works were developed for underwater operations. Still, we have included some other architectures and frameworks from other domains that can be of interest for the survey. The explored works have been assessed using selected features related to mission planning and management, considering that underwater operations are performed in an uncertain and unreliable environment, and where unexpected events are not strange. Furthermore, we have identified and highlighted some potential challenges for the design and implementation of mission managers. This provides a reference point for the development of a mission manager component to be integrated in architectures for cooperative robotics in underwater operations, and it can serve for the same purposes in other domains of application.

show abstract

mentioning

confidence: 99%

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Finally, to make transparent the SWARMs Data Distribution Service (DDS) communication through the acoustic network between the Command and Control Station (CCS) where the middleware will be running and the vehicles, two interface modules are used [39,40]:…”

mentioning

confidence: 99%

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Martínez¹,

Martínez-Ortega²,

Rodríguez‐Molina³

et al. 2020

Applied Sciences

View full text Add to dashboard Cite

In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard mission manager could improve the handling of exogenous events that cannot be handled fully at the vehicle level. Moreover, the use of vehicle virtualization by the mission-level manager can ease the use of older AUVs. In this paper, we propose a new mission-level manager to be run at a control station. The proposed mission manager, named Missions and Task Register and Reporter (MTRR), follows a decentralized hierarchical control pattern for self-adaptive systems, and provides a basic virtualization in regard to the AUV’s planning capabilities. The MTRR has been validated as part of the SWARMs European project. During the final trials we assessed its effectiveness and measured its performance. As a result, we have identified a strong correlation between the length of mission plan and the time required to start a mission ( ρ s = 0.79 , n = 45 , p 0.001 ). We have also identified a possible bottleneck when accessing the repositories for storing the information from the mission. Specifically, the average time for storing the received state vectors in the relational database represented only 18.50% of the average time required for doing so in the semantic repository.

show abstract

“…The classical procedure implied to pre-load a pre-defined mission plan in the AUVs before launching them [131]. However, the improvement in underwater communications in recent years has the potential to consider other ways of dispatching the mission plan to the AUVs participating in a mission [132].…”

Section: Mission Plan Dispatchingmentioning

confidence: 99%

“…Finally, to make transparent the SWARMs Data Distribution Service (DDS) communication through the acoustic network between the Central Control Station (CCS) where the middleware will be running and the vehicles, two interface modules are used [132,189]:…”

Section: The Swarms Architecturementioning

confidence: 99%

Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things

Martínez¹

View full text Add to dashboard Cite

show abstract

The SWARMs Approach to Integration of Underwater and Overwater Communication Sub-Networks and Integration of Heterogeneous Underwater Communication Systems

Cited by 3 publications

References 0 publications

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things

Contact Info

Product

Resources

About