A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Sensors

Ivan Lončar¹  Anja Babić¹  Nikola Mišković¹  Stjepan Bogdan²  Barbara Arbanas²  Goran Vasiljević²  Tamara Petrović² 

[1] LABUST—Laboratory for Underwater Systems and Technologies, Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia;LARICS—Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia;

关键词: marine robotics;    swarm;    multi-vehicle system;    underwater acoustic sensor network;    cooperative control;    underwater monitoring;   

DOI  :  10.3390/s20164615

来源: DOAJ

【 摘 要 】

This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.

【 授权许可】

Unknown