DocumentCode :
580580
Title :
Multi-domain monitoring of marine environments using a heterogeneous robot team
Author :
Shkurti, Florian ; Xu, Anqi ; Meghjani, Malika ; Higuera, Juan Camilo Gamboa ; Girdhar, Yogesh ; Giguère, Philippe ; Dey, Bir Bikram ; Li, Jimmy ; Kalmbach, Arnold ; Prahacs, Chris ; Turgeon, Katrine ; Rekleitis, Ioannis ; Dudek, Gregory
Author_Institution :
Sch. of Comput. Sci., McGill Univ., Montreal, QC, Canada
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
1747
Lastpage :
1753
Abstract :
In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect visual footage of interesting underwater regions, from multiple scales and mediums. We discuss organizational and scheduling complexities associated with multi-robot experiments in a field robotics setting. We also present results from our field trials, where we demonstrated the use of this heterogeneous robot team to achieve multi-domain monitoring of coral reefs, based on real-time interaction with a remotely-located marine biologist.
Keywords :
aircraft; ecology; environmental monitoring (geophysics); inspection; legged locomotion; marine control; multi-robot systems; agile legged underwater robot; autonomous airboat; coral reefs; environmental monitoring tasks; fixed-wing aerial vehicle; heterogeneous multirobot system; heterogeneous robot team; inspection; marine ecosystems; marine environments; multidomain monitoring; real-time interaction; remotely-located marine biologist; scientist assistance; Biology; Global Positioning System; Monitoring; Robot kinematics; Robot sensing systems; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385685
Filename :
6385685
Link To Document :
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