Download or read book An Investigation of the Impact of Communication Strategies on the Cooperative Behavior of Multiple Cooperating Autonomous Underwater Vehicles written by Roy M. Turner and published by . This book was released on 1990 with total page 38 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) hold great promise for use in ocean science and engineering, environmental monitoring, commercial endeavors, and law enforcement and military applications. However, much research remains to be done before AUVs fulfill their promise. Among the many areas which could be targeted for research, we consider the development of multiple cooperating AUV systems to be one of the most important. This paper reports the results of a pilot study aimed at shedding some light on issues related to communication between multiple cooperative AUVs. We were initially concerned with ways to reduce the impact of the inherent uncertainty present in the domain on communication and cooperative problem solving. We began developing a framework for utilizing situation specific schemas representing communication strategies to control communication. While considering the effect of noise and partial knowledge on communication, our attention was drawn to the inadequacy of intention-based communication methods for our domain. Consequently, we began to look at methods of utilizing stereotypical knowledge structures to reduce uncertainty and we have begun to look at ways to interpret a message's content based on the needs of the receiver, not the inferred intentions of the sender. (RH).

Download or read book An Investigation of the Impact of Communication Strategies on the Cooperative Behavior of Multiple Cooperating Autonomous Underwater Vehicles Phase 1 written by and published by . This book was released on 1990 with total page 39 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) hold great promise for use in ocean science and engineering, environmental monitoring, commercial endeavors, and law enforcement and military applications. However, much research remains to be done before AUVs fulfill their promise. Among the many areas which could be targeted for research, we consider the development of multiple cooperating AUV systems to be one of the most important. This paper reports the results of a pilot study aimed at shedding some light on issues related to communication between multiple cooperative AUVs. We were initially concerned with ways to reduce the impact of the inherent uncertainty present in the domain on communication and cooperative problem solving. We began developing a framework for utilizing situation specific schemas representing communication strategies to control communication. While considering the effect of noise and partial knowledge on communication, our attention was drawn to the inadequacy of intention-based communication methods for our domain. Consequently, we began to look at methods of utilizing stereotypical knowledge structures to reduce uncertainty and we have begun to look at ways to interpret a message's content based on the needs of the receiver, not the inferred intentions of the sender. (RH).

Download or read book Proceedings of the 7th International Symposium on Unmanned Untethered Submersible Technology September 23 25 1991 written by University of New Hampshire. Marine Systems Engineering Laboratory and published by . This book was released on 1991 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology June 12 14 1989 written by and published by . This book was released on 1989 with total page 604 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Reasoning for Real world Problems written by Roy Turner and published by Psychology Press. This book was released on 2013-05-13 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a method for building real-world problem solving systems such as medical diagnostic procedures and intelligent controllers for autonomous underwater vehicles (AUVs) and other robots. The approach taken is different from other work reported in the artificial intelligence literature in several respects: * It defines schema-based reasoning, in which schemas -- explicitly declared packets of related knowledge -- are used to control not only the reasoner's planning, but also all other facets of its behavior. * It is a kind of reactive reasoning that the author calls adaptive problem solving -- the reasoner maintains commitments to future goals but is able to change its focus of attention as the problem-solving situation requires. * It is a context-sensitive reasoning method. Every decision it makes relies on the use of contextual knowledge to be appropriate for the current problem-solving situation. Furthermore, context is represented explicitly; by always keeping a current representation of the context in mind, the reasoner's behavior is automatically sensitive to the context with very little work needed per decision. * Schema-based reasoning -- a generalization of case-based reasoning -- extends the usual idea of case-based reasoning to encompass all aspects of the reasoner's behavior, and it extends it to make use of generalized "cases" (i.e., schemas) rather than particular cases, thus saving effort needed to transfer knowledge from an old case to a new situation. Though the work originated in the domain of medical diagnostic problem solving, treating diagnosis as a planning task, it is even more appropriate for controlling autonomous systems. The author is currently extending the approach by creating a robust controller for long-range autonomous underwater vehicles that will be used to carry out ocean science missions.

Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Download or read book Bulletin of the Atomic Scientists written by and published by . This book was released on 1961-05 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Bulletin of the Atomic Scientists is the premier public resource on scientific and technological developments that impact global security. Founded by Manhattan Project Scientists, the Bulletin's iconic "Doomsday Clock" stimulates solutions for a safer world.

Download or read book Cooperative Localization for Autonomous Underwater Vehicles written by Alexander Bahr and published by . This book was released on 2009 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.

Download or read book A Cooperative Architecture to Localize Targets for Underwater Vehicles written by Assia Belbachir and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater target localization using several autonomous underwater vehicles(AUVs) is a challenging issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions. Communication points are required to make underwater vehicles exchange information: for that purpose the system involves one autonomous surface vehicle (ASV), which helps the AUVs to re-localize and to exchange data, and two AUVs that adapt their strategy according to gathered information, while satisfying the associated communication constraints. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperates with others to explore an area with the help of an ASV. To provide the required autonomy for these vehicles, we built upon an existing system with additional components, which provides an embedded planning and execution control framework. Simulation results are carried out to evaluate the proposed architecture and adaptive exploration strategy.

Download or read book Government Reports Announcements Index written by and published by . This book was released on 1996 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Oceans 91 written by and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1991 with total page 590 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Control of Autonomous Underwater Vehicles written by Elizabeth Savage and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The proposed project is the simulation of a system to search for air vehicles which have splashed-down in the ocean. The system comprises a group of 10+ autonomous underwater vehicles, which cooperate in order to locate the aircraft. The search algorithm used in this system is based on a quadratic Newton method and was developed at Sandia National Laboratories. The method has already been successfully applied to several two dimensional problems at Sandia. The original 2D algorithm was converted to 3D and tested for robustness in the presence of sensor error, position error and navigational error. Treating the robots as point masses, the system was found to be robust for all such errors. Several real-life adaptations were necessary. A round-robin communication strategy was implemented on the system to properly simulate the dissemination of information throughout the group. Time to convergence is delayed but the system still functioned adequately. Once simulations for the point masses had been exhausted, the dynamics of the robots were included. The robot equations of motion were described using Kane's equations. Path-planning was investigated using optimal control methods. The Variational Calculus approach was attempted using a line search tool "fsolve" found in Matlab and a Genetic Algorithm. A dynamic programming technique was also investigated using a method recently developed by Sandia National Laboratories. The Dynamic Programming with Interior Points (DPIP) method was a very effcient method for path planning and performed well in the presence of system constraints. Finally all components of the system were integrated. The motion of the robot exactly matched the motion of the particles, even when subjected to the same robustness tests carried out on the point masses. This thesis provides exciting developments for all types of cooperative projects.

Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Download or read book Cooperative Autonomous Underwater Vehicles Used to Search Large Ocean Areas for Mines written by and published by . This book was released on 2009 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: The overall objective of the research was to develop and apply strategies for autonomous collaboration among UUVs to search for underwater mines. We successfully simulated six behavior modules including Navigation and Formation Control, Vehicle Replacement, Divert to MLO for Inspection, Leader Replacement, Deployment and Recovery, and Multi-Vehicle Sensing. All these modules were implemented and simulated on the MOOS platform except for Multi-Vehicle Sensing. We also defined and developed a mapping strategy for UUVs. The Ul strategy creates a multi-layered map of the search space that contains information about fleet UUV positions, area coverage, low-resolution MLO position estimates, dangerous areas, and high-resolution MLO position estimates. We developed a fuzzy logic Supervisor/Planner module that operates in both a centralized and decentralized fashion to satisfy a variety of constraints and optimize time and energy resources for a fleet of UUVs. With these results we have satisfied all the requirements of our Baseline funding. In addition, we modified our communication protocol to a token-passing architecture in order to implement the UC2I reference mission using our modules with the Backseat/Front seat paradigm. We also located and bench tested a small Linux board in order to implement MOOS with a "backseat driver" paradigm on our UUVs.

Download or read book Task Allocation and Path Planning for Acoustic Networks of AUVs written by Yueyue Deng and published by . This book was released on 2010 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: Controlling the cooperative behaviors of a fleet of autonomous underwater vehicles in a stochastic, complex environment is a formidable challenge in artificial intelligence. The complexity arises from the challenges of limited navigation and communication capabilities of underwater environment. A time critical cooperative operation by acoustic networks of Multiple Cooperative Vehicles (MCVs) necessitates a robust task allocation mechanism and an efficient path planning model. In this work, we present solutions to investigate two aspects of the cooperative schema for multiple underwater vehicles under realistic underwater acoustic communications: a Location-aided Task Allocation Framework (LAAF) algorithm for multi-target task assignment and a mathematical programming model, the Grid-based Multi-Objective Optimal Programming (GMOOP), for finding an optimal vehicle command decision given a set of objectives and constraints. We demonstrate that, the location-aided auction strategies perform significantly better than the generic auction algorithm in terms of effective task allocation time and information bandwidth requirements. In a typical task assignment scenario, the time needed in the LAAF algorithm is only a fraction compared to the generic auction algorithm. On the other hand; the GMOOP path planning technique provides a unique means for multi-objective tasks by cooperative agents with limited communication capabilities. Under different environmental settings, the GMOOP path planning technique is proved to provide a method with balance of sufficient expressive power and flexibility, and its solution algorithms tractable in terms of mission completion time, with a limited increase of overhead in acoustic communication. Prior to this work, existing multi-objective action selection methods were limited to robust networks where constant communication available. The dynamic task allocation, together with the GMOOP path planning controller, provides a comprehensive solution to the search-classify tasks for cooperative AUVs.

Download or read book Follow the Leader Tracking by Autonomous Underwater Vehicles AUVs Using Acoustic Communications and Ranging written by Daniel P. Kucik and published by . This book was released on 2003-09-01 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: With advances in computer and sensor technologies, autonomous underwater vehicles (AUVs) are now capable of reaching a level of independent action once thought impossible. Through the use of cooperative behaviors it is possible to further increase their autonomy by allowing multiple operating AUVs to simultaneously coordinate their activities to improve the efficiency and effectiveness of the overall system. This thesis research defines the algorithms and rules needed to perform 'follow the leader' cooperative behaviors during AUV rendezvous. This is a low-level first step towards more sophisticated cooperative behaviors, such as swarming or new forms of obstacle/trap avoidance. The approach taken here differs from previous research in that it does not rely on beacons or locator sensors, but instead uses ranging and intention information shared between the vehicles using acoustic communications. Several tools and algorithms are presented to support the future development of cooperative behaviors. In particular, a previously developed 3D virtual world simulator that utilizes dynamics-based vehicle models has been enhanced to support multiple simultaneously operating vehicles. Finally, a procedural algorithm is shown to correct the relative navigation errors between two vehicles through the use of vehicle-to-vehicle communications and ranging information obtained via acoustic modems. (3 tables, 69 figures, 55 refs.)

Download or read book Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th