DocumentCode :
494735
Title :
Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Author :
Shafer, Andrew J. ; Benjamin, Michael R. ; Leonard, John J. ; Curcio, Joseph
Author_Institution :
Massachusetts Inst. of Technol., Cambridge, MA
fYear :
2008
fDate :
15-18 Sept. 2008
Firstpage :
1
Lastpage :
10
Abstract :
Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. Software modules for the autonomy framework MOOS-IvP are described that implement this framework. Simulated and experimental results show that it is feasible to combine both pre-planned and adaptive behaviors to effectively search a target area.
Keywords :
marine vehicles; remotely operated vehicles; autonomous cooperation; autonomous marine vehicle; autonomy framework MOOS-IvP; cellular-decomposition-based framework; cooperative adaptive search; environmental parameter; mission objective; sea-based search task; software module; Image processing; Marine technology; Marine vehicles; Mobile robots; Object detection; Ocean temperature; Petroleum; Remotely operated vehicles; Sonar; Underwater vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
Type :
conf
DOI :
10.1109/OCEANS.2008.5152100
Filename :
5152100
Link To Document :
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