Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed

Abstract

We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-to-point controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Levy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2012
Accession Number
ADA556697

Entities

People

  • Allon G. Percus
  • Andrea Bertozzi
  • Daniel Moore
  • Eric Nieters
  • Jennifer Flenner
  • Matthew Keeter
  • Rachel Levy
  • Ryan Muller
  • Susan E. Martonosi

Organizations

  • Naval Air Warfare Center Weapons Division

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Vehicles
  • Buoyancy
  • Circuit Boards
  • Computer Science
  • Control Systems
  • Detection
  • Detectors
  • Environment
  • Mathematics
  • Printed Circuits
  • Probability
  • Simulations
  • Submarines
  • Three Dimensional
  • Underwater Vehicles
  • Vehicles

Readers

  • Mathematical Modeling and Probability Theory.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control