TY - GEN
T1 - Profiling underwater swarm robotic shoaling performance using simulation
AU - Read, Mark
AU - Möslinger, Christoph
AU - Dipper, Tobias
AU - Kengyel, Daniela
AU - Hilder, James
AU - Thenius, Ronald
AU - Tyrrell, Andy
AU - Timmis, Jon
AU - Schmickl, Thomas
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84904158715&partnerID=8YFLogxK
U2 - 10.1007/978-3-662-43645-5_42
DO - 10.1007/978-3-662-43645-5_42
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:84904158715
SN - 9783662436448
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 404
EP - 416
BT - Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PB - Springer Nature
T2 - 14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Y2 - 28 August 2013 through 30 August 2013
ER -