NDLI: Cooperating Auv teams: Adaptive area coverage with space-varying communication constraints

Content Provider	IEEE Xplore Digital Library
Author	Caiti, A. Casalino, G. Munafo, A. Turetta, A.
Copyright Year	2009
Description	Author affiliation: ISME - Interuniversity Research Centre on Integrated Systems for the Marine Environment, Largo Lazzarino, 56100 Pisa, Italy (Caiti, A.; Casalino, G.; Munafo, A.; Turetta, A.)
Abstract	This contribution addresses the problem of area coverage by a team of Autonomous Underwater Vehicle. The case addressed is the one in which the area map is not known in advance but adaptively estimated on-line by the vehicles themselves as they move along the area. The approach proposed is distributed, i.e., the vehicles in the team exchange information among themselves and autonomously take individual decisions on where to move next on the basis of the available information. Communication constraints among the vehicles, in terms of communication range and bandwidth, are explicitly taken into account by the algorithm, and can be dependent by the spatial position in the covered area. The paper proposes a series of algorithms for adaptive sampling with communication constraints in which the communication constraints are expressed in terms of connectivity of the graph of the vehicles. Depending on the structure of the graph (ordered serial graph, ordered tree graph, etc.) the algorithms take the structure of a distributed dynamic programming approach or of minimum spanning tree graph searching.
Starting Page	1
Ending Page	7
File Size	1356167
Page Count	7
File Format	PDF
ISBN	9781424425228
DOI	10.1109/OCEANSE.2009.5278255
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-11
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Mobile robots Underwater vehicles Sampling methods Monitoring Underwater communication Bandwidth Tree graphs Ocean temperature Underwater acoustics
Content Type	Text
Resource Type	Article

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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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