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
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;
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
DOI :
10.1109/OCEANS.2008.5152100