A. Belbachir

Publications (2)0 Total impact

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  Available from: free.fr

  Conference Proceeding: Localizing underwater targets using a cooperative AUV architecture

  A. Belbachir, F. Ingrand, S. Lacroix
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  ABSTRACT: In this paper, we describe a cooperative architecture in which multiple Autonomous Underwater Vehicles (AUVs) cooperate to locate underwater targets. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperate with others to explore an area with the help of an autonomous surface vehicle (ASV) that stores the gathered information map and acts as a communication hub between the AUVs. The communication constraints associated to this context preclude the re-use or adaptation of most of the existing approaches, and require dedicated strategies. In particular, rendezvous are required to exchange information between AUVs and the ASV and to monitor the mission execution. To provide the required autonomy to these vehicles, we build upon an existing system (T-REX), which provides an embedded planning and execution control framework. Simulation results are carried out to evaluate the proposed architecture and adaptive exploration strategy.
  Machine and Web Intelligence (ICMWI), 2010 International Conference on; 11/2010
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  Available from: laas.fr

  Conference Proceeding: Cooperative-adaptive algorithms for targets localization in underwater environment

  A. Belbachir, S. Lacroix, F. Ingrand, M. Perrier, J. Opderbecke
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  ABSTRACT: Underwater target localization using several AUVs (Autonomous Underwater Vehicles) is a difficult issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions, dealing with the environmental changes and reducing the amount of redundant data. The contribution of this paper is the definition of such a strategy that adapts each vehicle motions according to its or others' sensory information. Communication points are required to make underwater vehicles exchange information: for that purpose the system involves one ASV (Autonomous Surface Vehicle), that helps the AUVs re-localize and exchange data, and two AUVs that adapt their strategy according to gathered information, while satisfying the associated communication constraints. In order to test our algorithms we extend an existing architecture to account for the information gathered and exchanged by the AUVs.
  Autonomous Underwater Vehicles (AUV), 2010 IEEE/OES; 10/2010