Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/9465
Autoria: | 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 |
Data: | 28-Jul-2015 |
Título próprio: | Design of Communication and Control for Swarms of Aquatic Surface Drones |
Paginação: | 548-555 |
Título do evento: | International Conference on Agents and Artificial Intelligence (ICAART-2015) |
ISBN: | 978-989-758-074-1 |
DOI (Digital Object Identifier): | 10.5220/0005281705480555 |
Palavras-chave: | Robotics platform Digital manufacturing Mesh networks Evolutionary robotics Decentralized control |
Resumo: | 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. |
Arbitragem científica: | Sim |
Acesso: | Acesso Restrito |
Aparece nas coleções: | CTI-AC - Atas de congresso/Proceedings (organização, edição literária, ...) |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ICAART2015DesignofCommunicationandControlAquaticDrones.pdf Restricted Access | 2,93 MB | Adobe PDF | Ver/Abrir Request a copy |
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