A re-configurable testbed for autonomous heterogeneous marine mapping, sensing, and search
Abstract
Building on its world-class expertise in unmanned system navigation, high-performance embedded computing, and acoustics, Brigham Young University is expanding its ability to perform subsea robotic sensing and autonomy research directly relevant to the US Department of Defense. Over the past four years, BYU has hired three new tenure-track faculty members with research focuses on marine autonomy, localization and mapping, multi-agent coordination, and underwater acoustics. To support research in autonomous underwater vehicle navigation and perception in particular, the university has recently committed funds to the installation of a 4.5 x 4.5 x 2 meter (11780 gallon) AUV test tank. In addition, we are expanding our underwater acoustics capabilities through the construction of a testbed for underwater acoustic measurements including a 1 x 1.2 x 3.6 meter tank and a high-precision positioning system. Through this DURIP proposal, the PIs are seeking funding to augment these resources to develop a testbed for in situ heterogeneous marine mapping, sensing, and search. In particular, the PIs seek funding to purchase and outfit: • Two Iver3 Open System autonomous underwater vehicles (AUVs) • One WAM-V 8 autonomous surface vessel (ASV) This equipment will enable the creation of a new research lab focused on robust multi-agent marine autonomy, mapping, and perception. In particular, the requested platforms will provide researchers with the unique ability to regularly perform in water field experiments on a variety of topics relevant to heterogeneous multi-agent operations. We will be able to investigate the development of methods for multi-agent coordination that take into account the strict communication, computation, and sensing constraints inherent to autonomous underwater operation. We will also be able to investigate a variety of topics related to cross-modality sensing, mapping, and localization that will enable the efficient coordination of agents with differing sensing and motion capabilities. This proposed research will depend on acquiring the requested equipment. In addition to enabling research focused on multi-agent and cross-modality autonomy, the modular and re-configurable nature of the systems we propose will also enable us to quickly and easily switch in and out sensors to support experiments on a variety of topics including autonomous decentralized tracking, acoustic characterization of the ocean environment, and oceanography. The proposed system will directly impact the DoD funded and proposed research of faculty across Brigham Young University, including Joshua Mangelson (ONR Program Managers: Dr. Daniel Cook and Brian Almquist, Ocean Engineering and Marine Systems); Traci Neilsen (ONR Program Manager: Robert Headrick and Kyle Becker, Ocean Acoustics); and Cammy Peterson (AFRL Sensors Directorate Contact: Rob Neuroth). The proposed equipment will also enable various faculty, including Brent Nelson and others, to transition previous work in embedded systems and unmanned aerial vehicles to the underwater domain. Each of these projects will provide opportunities for students (doctoral, masters, and bachelors) to gain fundamental hands-on research experience while solving problems directly relevant to the DoD. In addition, data collected during these experiments will be integrated into robotics courses available to both graduate and undergraduate students and student expertise, and hardware obtained through this grant will support future participation in ONR sponsored team competitions, such as RobotX.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 06, 2021
- Source ID
- N000142112272
Entities
People
- Joshua G. Mangelson
Organizations
- Brigham Young University
- Office of Naval Research
- United States Navy