By the same authors

Profiling underwater swarm robotic shoaling performance using simulation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Publication details

Title of host publicationTowards Autonomous Robotic Systems
DatePublished - 2014
Pages404-416
Number of pages13
PublisherSpringer-Verlag
Volume8069 LNAI
Original languageEnglish
ISBN (Electronic)978-3-662-43645-5
ISBN (Print)9783662436448

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

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.

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