A cooperative architecture for target localization using multiple AUVs
A recent concern in marine robotics is to consider the deployment of fleets of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to acco...
Gespeichert in:
| Veröffentlicht in: | Intelligent service robotics 2012-04, Vol.5 (2), p.119-132 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 132 |
|---|---|
| container_issue | 2 |
| container_start_page | 119 |
| container_title | Intelligent service robotics |
| container_volume | 5 |
| creator | Belbachir, Assia Ingrand, Félix Lacroix, Simon |
| description | A recent concern in marine robotics is to consider the deployment of fleets of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the problem of underwater targets localization. A systematic and exhaustive coverage strategy is not efficient in terms of exploration time: it can be improved by making the AUVs share their information to cooperate, and optimize their motions according to the state of their knowledge on the target localization. We present techniques to build environment representations on the basis of which adaptive exploration strategies can be defined, and define an architecture that allows information sharing and cooperation between the AUVs. Simulations are carried out to evaluate the proposed architecture and the adaptive exploration strategies. |
| doi_str_mv | 10.1007/s11370-012-0107-1 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_hal_p</sourceid><recordid>TN_cdi_hal_primary_oai_HAL_hal_01715620v1</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2918647531</sourcerecordid><originalsourceid>FETCH-LOGICAL-c416t-52a9c0af72b24dc290cf1fcc21768d655497601b3aa8522d6935fff2661a94c33</originalsourceid><addsrcrecordid>eNp1kEFLwzAUx4MoOKcfwFvAk4dq3mubrMcynBMGXpzXkGXJ1tE1NUkH-ultqejJwyOP8Pv_ePwJuQX2AIyJxwCQCpYwwH6YSOCMTGDGIUExy85_d8EvyVUIB8Y4ZJhOyKKk2rnWeBWrk6HK630VjY6dN9Q6T6PyOxNp7bSqq68ecg3tQtXs6LGrY9XWhpbr93BNLqyqg7n5eadkvXh6my-T1evzy7xcJToDHpMcVaGZsgI3mG01FkxbsFojCD7b8jzPCsEZbFKlZjnilhdpbq1FzkEVmU7TKbkfvXtVy9ZXR-U_pVOVXJYrOfwxEJBzZCfo2buRbb376EyI8uA63_TnSSz6PjKRpwMFI6W9C8Eb-6sFJodq5Vhtb0Y5VCuHDI6Z0LPNzvg_8_-hb_Roefs</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2918647531</pqid></control><display><type>article</type><title>A cooperative architecture for target localization using multiple AUVs</title><source>SpringerLink Journals</source><source>ProQuest Central UK/Ireland</source><source>ProQuest Central</source><creator>Belbachir, Assia ; Ingrand, Félix ; Lacroix, Simon</creator><creatorcontrib>Belbachir, Assia ; Ingrand, Félix ; Lacroix, Simon</creatorcontrib><description>A recent concern in marine robotics is to consider the deployment of fleets of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the problem of underwater targets localization. A systematic and exhaustive coverage strategy is not efficient in terms of exploration time: it can be improved by making the AUVs share their information to cooperate, and optimize their motions according to the state of their knowledge on the target localization. We present techniques to build environment representations on the basis of which adaptive exploration strategies can be defined, and define an architecture that allows information sharing and cooperation between the AUVs. Simulations are carried out to evaluate the proposed architecture and the adaptive exploration strategies.</description><identifier>ISSN: 1861-2776</identifier><identifier>EISSN: 1861-2784</identifier><identifier>DOI: 10.1007/s11370-012-0107-1</identifier><language>eng</language><publisher>Berlin/Heidelberg: Springer-Verlag</publisher><subject>Artificial Intelligence ; Autonomous underwater vehicles ; Computer Science ; Control ; Dynamical Systems ; Embedded Systems ; Engineering ; Localization ; Mechatronics ; Multiagent Systems ; Original Research Paper ; Robotics ; Robotics and Automation ; Surface vehicles ; User Interfaces and Human Computer Interaction ; Vibration</subject><ispartof>Intelligent service robotics, 2012-04, Vol.5 (2), p.119-132</ispartof><rights>Springer-Verlag 2012</rights><rights>Springer-Verlag 2012.</rights><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c416t-52a9c0af72b24dc290cf1fcc21768d655497601b3aa8522d6935fff2661a94c33</citedby><cites>FETCH-LOGICAL-c416t-52a9c0af72b24dc290cf1fcc21768d655497601b3aa8522d6935fff2661a94c33</cites><orcidid>0000-0003-2822-0905 ; 0000-0002-1294-8478 ; 0000-0001-9988-0981</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s11370-012-0107-1$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://www.proquest.com/docview/2918647531?pq-origsite=primo$$EHTML$$P50$$Gproquest$$H</linktohtml><link.rule.ids>230,314,780,784,885,21388,27924,27925,33744,41488,42557,43805,51319,64385,64389,72469</link.rule.ids><backlink>$$Uhttps://hal.science/hal-01715620$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Belbachir, Assia</creatorcontrib><creatorcontrib>Ingrand, Félix</creatorcontrib><creatorcontrib>Lacroix, Simon</creatorcontrib><title>A cooperative architecture for target localization using multiple AUVs</title><title>Intelligent service robotics</title><addtitle>Intel Serv Robotics</addtitle><description>A recent concern in marine robotics is to consider the deployment of fleets of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the problem of underwater targets localization. A systematic and exhaustive coverage strategy is not efficient in terms of exploration time: it can be improved by making the AUVs share their information to cooperate, and optimize their motions according to the state of their knowledge on the target localization. We present techniques to build environment representations on the basis of which adaptive exploration strategies can be defined, and define an architecture that allows information sharing and cooperation between the AUVs. Simulations are carried out to evaluate the proposed architecture and the adaptive exploration strategies.</description><subject>Artificial Intelligence</subject><subject>Autonomous underwater vehicles</subject><subject>Computer Science</subject><subject>Control</subject><subject>Dynamical Systems</subject><subject>Embedded Systems</subject><subject>Engineering</subject><subject>Localization</subject><subject>Mechatronics</subject><subject>Multiagent Systems</subject><subject>Original Research Paper</subject><subject>Robotics</subject><subject>Robotics and Automation</subject><subject>Surface vehicles</subject><subject>User Interfaces and Human Computer Interaction</subject><subject>Vibration</subject><issn>1861-2776</issn><issn>1861-2784</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp1kEFLwzAUx4MoOKcfwFvAk4dq3mubrMcynBMGXpzXkGXJ1tE1NUkH-ultqejJwyOP8Pv_ePwJuQX2AIyJxwCQCpYwwH6YSOCMTGDGIUExy85_d8EvyVUIB8Y4ZJhOyKKk2rnWeBWrk6HK630VjY6dN9Q6T6PyOxNp7bSqq68ecg3tQtXs6LGrY9XWhpbr93BNLqyqg7n5eadkvXh6my-T1evzy7xcJToDHpMcVaGZsgI3mG01FkxbsFojCD7b8jzPCsEZbFKlZjnilhdpbq1FzkEVmU7TKbkfvXtVy9ZXR-U_pVOVXJYrOfwxEJBzZCfo2buRbb376EyI8uA63_TnSSz6PjKRpwMFI6W9C8Eb-6sFJodq5Vhtb0Y5VCuHDI6Z0LPNzvg_8_-hb_Roefs</recordid><startdate>20120401</startdate><enddate>20120401</enddate><creator>Belbachir, Assia</creator><creator>Ingrand, Félix</creator><creator>Lacroix, Simon</creator><general>Springer-Verlag</general><general>Springer Nature B.V</general><general>Springer Verlag</general><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope><scope>1XC</scope><orcidid>https://orcid.org/0000-0003-2822-0905</orcidid><orcidid>https://orcid.org/0000-0002-1294-8478</orcidid><orcidid>https://orcid.org/0000-0001-9988-0981</orcidid></search><sort><creationdate>20120401</creationdate><title>A cooperative architecture for target localization using multiple AUVs</title><author>Belbachir, Assia ; Ingrand, Félix ; Lacroix, Simon</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c416t-52a9c0af72b24dc290cf1fcc21768d655497601b3aa8522d6935fff2661a94c33</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Artificial Intelligence</topic><topic>Autonomous underwater vehicles</topic><topic>Computer Science</topic><topic>Control</topic><topic>Dynamical Systems</topic><topic>Embedded Systems</topic><topic>Engineering</topic><topic>Localization</topic><topic>Mechatronics</topic><topic>Multiagent Systems</topic><topic>Original Research Paper</topic><topic>Robotics</topic><topic>Robotics and Automation</topic><topic>Surface vehicles</topic><topic>User Interfaces and Human Computer Interaction</topic><topic>Vibration</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Belbachir, Assia</creatorcontrib><creatorcontrib>Ingrand, Félix</creatorcontrib><creatorcontrib>Lacroix, Simon</creatorcontrib><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Engineering Collection</collection><collection>Hyper Article en Ligne (HAL)</collection><jtitle>Intelligent service robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Belbachir, Assia</au><au>Ingrand, Félix</au><au>Lacroix, Simon</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A cooperative architecture for target localization using multiple AUVs</atitle><jtitle>Intelligent service robotics</jtitle><stitle>Intel Serv Robotics</stitle><date>2012-04-01</date><risdate>2012</risdate><volume>5</volume><issue>2</issue><spage>119</spage><epage>132</epage><pages>119-132</pages><issn>1861-2776</issn><eissn>1861-2784</eissn><abstract>A recent concern in marine robotics is to consider the deployment of fleets of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the problem of underwater targets localization. A systematic and exhaustive coverage strategy is not efficient in terms of exploration time: it can be improved by making the AUVs share their information to cooperate, and optimize their motions according to the state of their knowledge on the target localization. We present techniques to build environment representations on the basis of which adaptive exploration strategies can be defined, and define an architecture that allows information sharing and cooperation between the AUVs. Simulations are carried out to evaluate the proposed architecture and the adaptive exploration strategies.</abstract><cop>Berlin/Heidelberg</cop><pub>Springer-Verlag</pub><doi>10.1007/s11370-012-0107-1</doi><tpages>14</tpages><orcidid>https://orcid.org/0000-0003-2822-0905</orcidid><orcidid>https://orcid.org/0000-0002-1294-8478</orcidid><orcidid>https://orcid.org/0000-0001-9988-0981</orcidid></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 1861-2776 |
| ispartof | Intelligent service robotics, 2012-04, Vol.5 (2), p.119-132 |
| issn | 1861-2776 1861-2784 |
| language | eng |
| recordid | cdi_hal_primary_oai_HAL_hal_01715620v1 |
| source | SpringerLink Journals; ProQuest Central UK/Ireland; ProQuest Central |
| subjects | Artificial Intelligence Autonomous underwater vehicles Computer Science Control Dynamical Systems Embedded Systems Engineering Localization Mechatronics Multiagent Systems Original Research Paper Robotics Robotics and Automation Surface vehicles User Interfaces and Human Computer Interaction Vibration |
| title | A cooperative architecture for target localization using multiple AUVs |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-01T04%3A02%3A51IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_hal_p&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20cooperative%20architecture%20for%20target%20localization%20using%20multiple%20AUVs&rft.jtitle=Intelligent%20service%20robotics&rft.au=Belbachir,%20Assia&rft.date=2012-04-01&rft.volume=5&rft.issue=2&rft.spage=119&rft.epage=132&rft.pages=119-132&rft.issn=1861-2776&rft.eissn=1861-2784&rft_id=info:doi/10.1007/s11370-012-0107-1&rft_dat=%3Cproquest_hal_p%3E2918647531%3C/proquest_hal_p%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2918647531&rft_id=info:pmid/&rfr_iscdi=true |