Behavior-based Control: An Approach to Cooperative AUVs Missions

Sorbi, Laura; Capua, Graziano Pio De; Fontaine, Jean‐Guy; Toni, Laura; Rossi, Lorenzo

doi:10.2316/p.2011.743-036

Cited by 3 publications

(4 citation statements)

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“…The aim is to achieve a global emerging behavior of the fleet in which each AUV is responsible for taking decisions about its own motion and without explicit inter-robot coordination. These specifications can be easily hold by a BB approach, as the one introduced in [24] and described in the next section, where the effectiveness of this technique is demonstrated when robots have to spread in an unknown environment.…”

Section: Proposed Mission Plannermentioning

confidence: 99%

“…To control Multiple Autonomous Underwater Vehicles (MAUVs) employed to localize targets in an unknown environment, a Behavior-Based Method (BBM) has been introduced in [24].…”

Section: Introductionmentioning

confidence: 99%

“…In our previous work [24], a Behavior-Based (BB) approach was considered to control multiple AUVs aimed at detecting and localizing fixed targets with no a priori information about the environment.…”

Section: Introductionmentioning

confidence: 99%

“…In Section III, we describe the global structure of the proposed mission planner; while, in Section IV, we briefly remind the BB algorithm presented in [24], and the relative results for a target detection mission. Section V introduces the APF controller developed to head robots towards a goal position, represented by a detected target.…”

Section: Introductionmentioning

confidence: 99%

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A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

Sorbi¹,

Capua²,

Fontaine³

et al. 2012

mar technol soc j

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Due to its applications in marine research, oceanographic, and undersea exploration, Autonomous Underwater Vehicles (AUVs) and the related control algorithms has been recently under intense investigation. In this work, we address target detection and tracking issues, proposing a control strategy which is able to benefit from the cooperation among robots within the fleet. In particular, we introduce a behavior-based planner for cooperative AUVs, proposing an algorithm able to search and recognize targets, in both static and dynamic scenarios. With no a priori information about the surrounding environment, robots cover an unknown area with the goal of finding objects of interest. When a target is found, the AUVs' goal become to classify it (fixed target) or track it (mobile target), with no information about target trajectory and with the constraint on maintaining the formation. Results demonstrate the good overall performance of the proposed algorithm in both scenarios.

show abstract

Section: Proposed Mission Plannermentioning

confidence: 99%

“…To control Multiple Autonomous Underwater Vehicles (MAUVs) employed to localize targets in an unknown environment, a Behavior-Based Method (BBM) has been introduced in [24].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

Sorbi¹,

Capua²,

Fontaine³

et al. 2012

mar technol soc j

Self Cite

View full text Add to dashboard Cite

show abstract

On the Performances of a Target Detection Algorithm in Underwater Sensor Networks with Aqua-Sim

Sorbi

Capua²,

Cherkaoui

et al. 2011

2011 IFIP 9th International Conference on Embedded and Ubiquitous Computing

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Target detection and recognition: A mission planner for Autonomous Underwater Vehicles

Sorbi

Capua

Toni

et al. 2011

Oceans'11 MTS/Ieee Kona

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Behavior-based Control: An Approach to Cooperative AUVs Missions

Cited by 3 publications

References 0 publications

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

On the Performances of a Target Detection Algorithm in Underwater Sensor Networks with Aqua-Sim

Target detection and recognition: A mission planner for Autonomous Underwater Vehicles

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Behavior-based Control: An Approach to Cooperative AUVs Missions

Cited by 3 publications

References 0 publications

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles†

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles†

On the Performances of a Target Detection Algorithm in Underwater Sensor Networks with Aqua-Sim

Target detection and recognition: A mission planner for Autonomous Underwater Vehicles

Contact Info

Product

Resources

About

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†