NDLI: Taking swarms to the field: A framework for underwater mission planning

Content Provider	IEEE Xplore Digital Library
Author	Tolba, Sherif Ammar, Reda Rajasekaran, Sanguthevar
Copyright Year	2015
Description	Author affiliation: School of Engineering, University of Connecticut, Storrs, CT 06269-4155 (Tolba, Sherif; Ammar, Reda; Rajasekaran, Sanguthevar)
Abstract	Large scale missions in unpredictable and unstable underwater environments are beyond the capabilities of a single intelligent and complex robot. Relying on one robot is far from optimal as loss of the unit means failure of the whole mission. On the contrary, robotic swarms depend on large numbers of simple, cheap, and error-prone robots that exhibit global desirable features like fault-tolerance, scalability, and robustness. The study of underwater robotic swarms from the overall mission-planning perspective has been very limited. Planning specific parts of a mission has mostly been the focus of previous research. We propose a general framework for designing and planning underwater swarm missions. We break a typical mission down into its primary constituents and study the requirements for each sub-mission separately. Initially, the swarm self-organizes to form a shape that maximizes residual energy and minimizes water resistance during transport towards the target. This is followed by path planning and shape maintenance, in which the swarm strives to maintain its collective shape and move in cohesion on a collectively-selected path. Next, another self-organization phase takes place to optimize mission-core accomplishment at the target. Remaining phases, in the back trip, are the counterparts of the first two. Related work in each phase is presented and discussed and future work is also highlighted.
Starting Page	1007
Ending Page	1013
File Size	322456
Page Count	7
File Format	PDF
e-ISBN	9781467371940
DOI	10.1109/ISCC.2015.7405645
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-06
Publisher Place	Cyprus
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Shape Path planning Robot sensing systems Organizations Computers
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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