Autonomous Coordination and Networking between Multi-Environment Marine Robots at Extended Ranges

多环境海洋机器人远距离自主协调与联网

• 批准号: 522684-2017
• 负责人: Seto, Mae
• 金额: $ 1.46万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=664778
• 关键词: Autonomous; Coordination; Networking; between; Multi

This work proposes to develop a framework that allows robot teams to perform underwater survey missions (e.g. searches for downed aircraft, mines, or hydrothermal vents) that adapt to the environment and then to send the survey results above-water over extended ranges. The underwater robots use surface robots as relays to get the results of the surveys above-water. Then, the results are further relayed over extended ranges to ships (or alternatively, jetties and shore-based stations) through aerial drones. These drones are periodically deployed from ships or jetties at extended ranges so human operators can monitor, assist, interpret or use the information. This means it is possible for one ship to monitor several robot teams at extended ranges and**make good use of the costly deployed ship. The aerial drone challenges are to develop search algorithms to explore an area for a robot team based on a last known location. The drone is responding to a water surface robot that is performing an adaptive, not scripted, mission. As per the examples listed above, applications are in oceanographic environments for defence, scientific, or commercial missions.****

这项工作建议开发一个框架，允许机器人团队执行适应环境的水下调查任务（例如搜索坠落的飞机、地雷或热液喷口），然后将调查结果在更远的范围内发送到水面以上。水下机器人使用水面机器人作为中继来获取水面上的测量结果。然后，结果通过无人机进一步远距离转发到船舶（或者码头和岸基站）。这些无人机定期从船舶或码头远距离部署，以便操作人员可以监控、协助、解释或使用信息。这意味着一艘船可以在更远的范围内监视多个机器人团队，并充分利用成本高昂的部署船。空中无人机的挑战是开发搜索算法，根据最后已知的位置为机器人团队探索一个区域。无人机正在对正在执行自适应而非脚本任务的水面机器人做出响应。根据上面列出的示例，应用程序适用于国防、科学或商业任务的海洋环境。****