NDLI: Distributed coordination and data fusion for underwater search

Content Provider	IEEE Xplore Digital Library
Author	Hollinger, G.A. Yerramalli, S. Singh, S. Mitra, U. Sukhatme, G.S.
Copyright Year	2011
Description	Author affiliation: Dept. of Computer Science, Viterbi School of Engineering, University of Southern California, Los Angeles, 90089 USA (Hollinger, G.A.; Sukhatme, G.S.) \|\| Dept. of Electrical Engineering, Viterbi School of Engineering, University of Southern California, Los Angeles, 90089 USA (Yerramalli, S.; Mitra, U.) \|\| Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213 USA (Singh, S.)
Abstract	This paper presents coordination and data fusion methods for teams of vehicles performing target search tasks without guaranteed communication. A fully distributed team planning algorithm is proposed that utilizes limited shared information as it becomes available, and data fusion techniques are introduced for merging estimates of the target's position from vehicles that regain contact after long periods of time. The proposed data fusion techniques are shown to avoid overcounting information, which ensures that combining data from different vehicles will not decrease the performance of the search. Motivated by the underwater search domain, a realistic underwater acoustic communication channel is used to determine the probability of successful data transfer between two locations. The channel model is integrated into a simulation of multiple autonomous vehicles in both open ocean and harbor search scenarios. The simulated experiments demonstrate that distributed coordination with limited communication significantly improves team performance versus prior techniques that continually maintain connectivity.
Starting Page	349
Ending Page	355
File Size	422410
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979685
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles OFDM Dispersion Noise Underwater acoustics Robots Planning
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Consistent cooperative localization

Joint ASV/AUV range-based formation control: Theory and experimental results

Mission planning and specification in the Neptus framework

Distributed Constraint Force Approach for Coordination of Multiple Mobile Robots

Opportunistic localization of underwater robots using drifters and boats

3D global and mobile sensor data fusion for mobile platform navigation

In-situ attitude calibration for high resolution bathymetric surveys with underwater robotic vehicles

UAVs Trajectory Planning by Distributed MPC under Radio Communication Path Loss Constraints

Nonholonomic path planning optimization for Dubins' vehicles

Distributed coordination and data fusion for underwater search

Similar Documents

Consistent cooperative localization

Joint ASV/AUV range-based formation control: Theory and experimental results

Mission planning and specification in the Neptus framework

Distributed Constraint Force Approach for Coordination of Multiple Mobile Robots

Opportunistic localization of underwater robots using drifters and boats

3D global and mobile sensor data fusion for mobile platform navigation

In-situ attitude calibration for high resolution bathymetric surveys with underwater robotic vehicles

UAVs Trajectory Planning by Distributed MPC under Radio Communication Path Loss Constraints

Nonholonomic path planning optimization for Dubins' vehicles

Distributed coordination and data fusion for underwater search