Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/9465
Author(s): | Christensen, Anders Lyhne Oliveira, Sancho Postolache, Octavian Oliveira, Maria João de Sargento, Susana Santana, Pedro Nunes, Luís Velez, Fernando Sebastião, Pedro Costa, Vasco Duarte, Miguel Gomes, Jorge Rodrigues, Tiago Silva, Fernando |
Date: | 28-Jul-2015 |
Title: | Design of Communication and Control for Swarms of Aquatic Surface Drones |
Pages: | 548-555 |
Event title: | International Conference on Agents and Artificial Intelligence (ICAART-2015) |
ISBN: | 978-989-758-074-1 |
DOI (Digital Object Identifier): | 10.5220/0005281705480555 |
Keywords: | Robotics platform Digital manufacturing Mesh networks Evolutionary robotics Decentralized control |
Abstract: | The availability of relatively capable and inexpensive hardware components has made it feasible to consider large-scale systems of autonomous aquatic drones for maritime tasks. In this paper, we present the CORATAM and HANCAD projects, which focus on the fundamental challenges related to communication and control in swarms of aquatic drones. We argue for (i) the adoption of a heterogeneous approach to communication in which a small subset of the drones have long-range communication capabilities while the majority carry only short-range communication hardware, and (ii) the use of decentralized control based on self-organization to facilitate inherent robustness and scalability. A heterogeneous communication system and decentralized control allow for the average drone to be kept relative simple and therefore inexpensive. To assess the proposed methodology, we are currently building 25 prototype drones from off-the-shelf components. We present the current hardware designs and discuss the results of simulation-based experiments involving swarms of up to 1,000 aquatic drones that successfully patrolled a 20 km long strip for 24 hours. |
Peerreviewed: | Sim |
Access type: | Restricted Access |
Appears in Collections: | CTI-AC - Atas de congresso/Proceedings (organização, edição literária, ...) |
Files in This Item:
File | Description | Size | Format | |
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ICAART2015DesignofCommunicationandControlAquaticDrones.pdf Restricted Access | 2,93 MB | Adobe PDF | View/Open Request a copy |
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