Cooperative distributed behaviours of an AUV network for asset protection with communication constraints
ABSTRACT Within this paper we present a cooperative adaptive algorithm for the management of a team of Autonomous Underwater Vehicles (AUVs) that are the mobile nodes of an ad-hoc underwater network and share the mission objective of protecting an asset while maintaining reliable acoustic communication links among themselves. Each vehicle is considered to be equipped with a detection sonar for asset protection and with an acoustic modem for communication purposes. The performance of the algorithm is shown with respect to optimal geometric solutions, and through the simulation of the underneath acoustic network to verify the performance in scenarios characterized by long propagation delays, high packet losses and unreliable communication links.
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ABSTRACT: The UAN - Underwater Acoustic Network - project has among its goals the investigation of networked communication modalities in which mobile nodes are located in the environment in order to optimize the communication characteristics of the acoustic channel. The mobile network nodes in UAN are placed on Autonomous Underwater Vehicles (AUVs) carrying appropriate acoustic modems and capable of autonomous decisions. With this contribution we focus on the architectural design and implementation on AUVs of the “Folaga” class of a mission supervisor handling the communication, environmental sampling and decision making tasks, and reports the first results in terms of network communication capabilities as obtained in the UAN10 experimental activities that took place in the Tuscan Archipelago, Mediterranean Sea, in September 2010.OCEANS, 2011 IEEE - Spain; 07/2011