Intruder capturing game on a topological map assisted by information networks

2021

Applied Sciences

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This article handles building underwater sensor networks autonomously using multiple surface ships. For building underwater sensor networks in 3D workspace with many obstacles, this article considers surface ships dropping underwater robots into the underwater workspace. We assume that every robot is heterogeneous, such that each robot can have a distinct sensing range while moving with a distinct speed. The proposed strategy works by moving a single robot at a time to spread out the underwater networks until the 3D cluttered workspace is fully covered by sensors of the robots, such that no sensing hole remains. As far as we know, this article is novel in enabling multiple heterogeneous robots to build underwater sensor networks in a 3D cluttered environment, while satisfying the following conditions: (1) Remove all sensing holes. (2) Network connectivity is maintained. (3) Localize all underwater robots. In addition, we address how to handle the case where a robot is broken, and we discuss how to estimate the number of robots required, considering the case where an obstacle inside the workspace is not known a priori. Utilizing MATLAB simulations, we demonstrate the effectiveness of the proposed network construction methods.

Section: Introductionmentioning

confidence: 99%

Constructing 3D Underwater Sensor Networks without Sensing Holes Utilizing Heterogeneous Underwater Robots

2021

Applied Sciences

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“…Distributed network systems can be utilized to measure environmental conditions such as temperature, sound, pollution levels, humidity, wind, and so on. Once a distributed sensor network is built to fully cover a workspace, it can work for many tasks, such as workspace monitoring [1][2][3][4][5] or intruder detection [6]. For instance, an underwater sensor network can be used to detect the presence of an underwater vehicle.…”

Section: Introductionmentioning

confidence: 99%

Coverage control of multiple robots in cluttered three‐dimensional environments

2021

IET Radar Sonar & Navi

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Distributed network systems can be utilized to measure environmental conditions such as temperature, sound, pollution levels, humidity, wind, and so on. Multiple autonomously moving mobile sensors are used to construct distributed sensor networks in an unknown cluttered 3-D workspace. The proposed strategy is to deploy mobile sensors (robots) sequentially and individually to extend the network until the network fully covers the entire open space. This strategy results in 3-D sensor networks without sensing holes and does not require global localization of a robot except for a single robot called the Communication Navigation Aid. The authors believe this article is unique in constructing sensor networks in 3-D workspaces cluttered with many obstacles. Moreover, this article presents an innovative recovery algorithm to handle sensor failures in the constructed network. Network connectivity is maintained while robots move in unknown 3-D cluttered environments. Once a robot is deployed at its designated location, it becomes localized in global coordinate systems. Utilizing MATLAB, the effectiveness of the proposed deployment methods is demonstrated.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

“…There are many papers on multi-robot systems. 12 –23 Multi-robot systems have various potential applications such as leader-based multi-robot herding, 24 sensor node deployment, 12,20,21,23,25 and collective transport of robots. 26 Zhang and Leonard 18 developed formation controllers to improve source seeking utilizing distributed sensors.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional multi-robot control to chase a target while not being observed

International Journal of Advanced Robotic Systems

2019

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This article introduces a 3-D multi-robot chasing controller to make a team of robots get closer to a target while not being observed by the target. Assume that the target has sensors, such as radar or sonar, to observe an incoming vehicle. In the team, one robot, the leader, has a stealth capability such that it is not observable by the sensors of the target while getting closer to the target. The leader is controlled such that it chases the target while remaining at the same bearing line from the target to the leader. Considering the case in which the target can only measure optical flow, the target can hardly observe the leader’s motion. We control every robot, other than the leader, such that a detection pulse signal generated from the target’s sensor reaches no robot, since the signal is attenuated by the stealth leader. In this manner, even if multiple robots approach the target, the target observes no robot. We prove that under our 3-D multi-agent control with some condition satisfied, multiple robots can approach the target in a stealthy manner while avoiding colliding with each other. In this article, we use simulations to demonstrate the effectiveness of our 3-D multi-agent controller.