Underwater swarm robotics review

Abstract

Underwater robotics is a growing field in which more research is required. A literature review has been conducted on underwater robotics, focusing on the swarm problem with this type of robotics to help overcome this gap. Consensus control of robotic swarms is focused on, with a brief description of formation control and how it can be applied in the underwater setting. The basic concepts behind Particle Swarm Optimization, Ant Colony Optimization, Bees Algorithm and Heterogeneous Swarms has also been presented. The problems that are associated with communicating underwater are shown, with some possible solutions to this problem also being presented. Possible future work is described to conclude the paper. 2015 10th System of Systems Engineering Conference (SoSE) 978-1-4799-7611-9/15/$31.00 ©2015 IEEE effective communication for a swarm. The water quality that the transceiver is in can also make a difference, as when a 75MHz transceiver is used in a chlorinated pool the range of communication is only 2.7m(9') and when the same transceiver is used in a salt water pool, the range of communication is reduced further down to 0.3m(1') [30]. This shows that having water of different conductivity levels change the way that range that communication can be achieved at.Communication can be generally split into two different categories, these being direct and indirect communication [13,21]. The most common form of communication is direct communication. This is where two or more agents have some kind of link between them, whether it be wired or wireless, that allows the two agents to transmit data from one to the other in real time. In most form of robotics this is how communication is achieved. This can be viewed as how two people have a conversation with one another.The other type of communication, indirect communication, is where other means are used to transmit the data from one robot o the other. Some methods that can be used to do is could be robot grouping, intensity of light and modifying the environment to pass a message on. This type of message is not often used as it is slow, can suffer highly from noise and can be much harder for the robot to interpret, causing situations where the robot possibly misses the message. This can be viewed as someone leaving a note for another person to find and read, as opposed to them directly speaking to each other.Due to the limitation that water imposes on communication other forms of communication have been

A review on multi-robot systems categorised by application domain

“…Such coordination schemes require the robots to bid for the tasks that they are able to perform. Furthermore, detailed reviews in the area of swarm robotics are properly surveyed in [9]- [11], while those reviewing biologically-inspired research include [12]. We encourage the interested reader to refer to these works for more details.…”

“…In [16], the authors review the mathematical problem of flocking, together with existing flocking control strategies. Other problem-specific reviews focus on patrolling algorithms [17], robotic urban search and rescue [18], and autonomous underwater vehicles [11], [19]. The review papers referred to in this section have been grouped in six broad categories in Table I.…”

Position Estimation of Autonomous Underwater Sensors Using the Virtual Long Baseline Method

“…In both cases, clocks of the requesting system and the desired object are not synchronized. The second option provides the possibility of a cooperative search for an underwater object by a swarm of autonomous vehicles [15] [16]: an object periodically emitting a navigation signal, allows simultaneous reception on an unlimited number of surface receivers, thereby providing coverage for a theoretically arbitrarily large search area.…”

Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks

“…[1][2][3][4] Such kinds of systems can have the capability of performing complex tasks that cannot be reached using a single manipulator.…”

“…underwater pipeline and cable transportation could be carried out by multiple cooperative I-AUVs; underwater search and rescue tasks could be more efficient and effective if multiple I-AUVs could be used 6,7 ). In Joordens et al 1 and Champion et al, 2 a complete review of the latest cooperative strategies in the underwater field has been described. In Hausler et al, 8 an interesting method for the optimal motion planning of vehicles is presented.…”