Bioinspired sensory and control principles for underwater multi-vehicle coordination
Abstract
The long-term goal of this project is to enable teams of autonomous underwater vehicles to coordinate their movement without revealing their positions to an adversary, by interacting using passive sensing based on visual and hydrodynamic signals. Fish schools provide an excellent paradigm for developing a bio-inspired, mathematical and engineering, framework forthis multi-vehicle control problem. Our specific research objectives are to (1) conduct carefully designed experiments with fish schools to decipher the sensorimotor control principles underlying fish schooling, (2) develop mathematical models of collective behavior that integrate, at the individual level, sensory perception and motor control strategies with hydrodynamics and mechanics, and (3) design and implement a multi-vehicle underwatertest bed for experimental demonstration and validation of the theoretical results.The proposed approach and research outcome will contribute to ONR s specific mission for developing autonomous swarms, which could play a vital role in protecting U.S. Navy ships, ports and commerce. Multi-vehicle control is a natural extension of existing unmanned sea platforms and autonomy, and it has the potential to contribute to several ONR research priorities, including operational endurance, sensing, and sense-making. Swarms of affordablemobile sensory platforms have the potential to blanket the operational domain with distributed and adaptive measurements and can thereby increase the flexibility and reach of the naval force.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 23, 2019
- Source ID
- N000141912035
Entities
People
- Eva Kanso
Organizations
- Office of Naval Research
- United States Navy
- University of Southern California