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ThinkMind // SENSORCOMM 2012 , The Sixth International Conference on Sensor Technologies and Applications // View article sensorcomm_2012_14_20_10138


The Localization Problem for Harness: A Multipurpose Robotic Swarm

Authors:
Ramiro dell'Erba
Claudio Moriconi

Keywords: swarm; underwater; robot; localization.

Abstract:
This paper deals with the localization problem of an underwater robotic swarm in the context of the HARNESS project (Human telecontrolled Adaptive Robotic Network of SensorS) currently in progress in our laboratory. This system is based on cheap autonomous underwater vehicles (AUV) organized with swarm rules and conceived to perform tasks, ranging from environmental monitoring to terrorism attack surveillance. The key aims of the HARNESS project are: the development of a novel underwater acoustic channel with very high performances in routing and data throughput capacities; and the design of a reliable swarm rule-based control system with an interface dealing with a supervisor operator acting as a priority definition arbiter. A method to determine the shape of the swarm, based on trilateration calculation, is proposed.

Pages: 327 to 333

Copyright: Copyright (c) IARIA, 2012

Publication date: August 19, 2012

Published in: conference

ISSN: 2308-4405

ISBN: 978-1-61208-207-3

Location: Rome, Italy

Dates: from August 19, 2012 to August 24, 2012

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