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.
"The above goals are indeed ambitious, and involve the development of appropriate both methodological and hardware/software architectural tools. From the point of view of distributed decision making in the UAN context, a cooperative algorithm has been designed, and its characteristics in terms robustness to node failures, communication delays, incomplete information are reported in a companion paper . This contribution focuses 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. "
[Show abstract][Hide abstract] 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
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