Profiling underwater swarm robotic shoaling performance using simulation

Mark Read*, Christoph Möslinger, Tobias Dipper, Daniela Kengyel, James Hilder, Ronald Thenius, Andy Tyrrell, Jon Timmis, Thomas Schmickl

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

8 Citations (SciVal)

Abstract

Underwater exploration is important for mapping out the oceans, environmental monitoring, and search and rescue, yet water represents one of the most challenging of operational environments. The CoCoRo project proposes to address these challenges using cognitive swarm intelligent systems. We present here CoCoRoSim, an underwater swarm robotics simulation used in designing underwater swarm robotic systems. Collective coordination of robots represents principle challenge here, and use simulation in evaluating shoaling algorithm performance given the communication, localization and orientation challenges of underwater environments. We find communication to be essential for well-coordinated shoals, and provided communication is possible, inexact localization does not significantly impact performance. As a proof of concept simulation is employed in evaluating shoaling performance in turbulent waters.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PublisherSpringer Nature
Pages404-416
Number of pages13
ISBN (Print)9783662436448
DOIs
Publication statusPublished - 2014
Event14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, United Kingdom of Great Britain and Northern Ireland
Duration: 28 Aug 201330 Aug 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
CityOxford
Period28 Aug 201330 Aug 2013

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