Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies
© 2018, Springer Science+Business Media, LLC, part of Springer Nature. The design, construction, and testing of a large distributed system of novel, small, low-cost, autonomous surface vehicles in the form of self-propelled buoys capable of operating in open waters is reported. We detail the success...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer Science and Business Media LLC
2021
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| Online Access: | https://hdl.handle.net/1721.1/134869 |
| _version_ | 1826214364758147072 |
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| author | Zoss, Brandon M Mateo, David Kuan, Yoke Kong Tokić, Grgur Chamanbaz, Mohammadreza Goh, Louis Vallegra, Francesco Bouffanais, Roland Yue, Dick KP |
| author_facet | Zoss, Brandon M Mateo, David Kuan, Yoke Kong Tokić, Grgur Chamanbaz, Mohammadreza Goh, Louis Vallegra, Francesco Bouffanais, Roland Yue, Dick KP |
| author_sort | Zoss, Brandon M |
| collection | MIT |
| description | © 2018, Springer Science+Business Media, LLC, part of Springer Nature. The design, construction, and testing of a large distributed system of novel, small, low-cost, autonomous surface vehicles in the form of self-propelled buoys capable of operating in open waters is reported. We detail the successful testing of collective behaviors of systems with up to 50 buoys, achieving scalable deployment and dynamic monitoring in unstructured environments. This constitutes the largest distributed multi-robot system of its kind reported to date. We confirm the robustness of the system to the loss of multiple units for different collective behaviors such as flocking, navigation, and area coverage. For dynamic area monitoring, we introduce a new metric to quantify coverage effectiveness. Our system exhibits near optimal scalability for fixed target areas and a high degree of flexibility when the shape of the target changes with time. This system demonstrates the potential of distributed multi-robot systems for the pervasive and persistent monitoring of coastal and inland water environments. |
| first_indexed | 2024-09-23T16:04:13Z |
| format | Article |
| id | mit-1721.1/134869 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:04:13Z |
| publishDate | 2021 |
| publisher | Springer Science and Business Media LLC |
| record_format | dspace |
| spelling | mit-1721.1/1348692021-10-28T03:13:50Z Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies Zoss, Brandon M Mateo, David Kuan, Yoke Kong Tokić, Grgur Chamanbaz, Mohammadreza Goh, Louis Vallegra, Francesco Bouffanais, Roland Yue, Dick KP © 2018, Springer Science+Business Media, LLC, part of Springer Nature. The design, construction, and testing of a large distributed system of novel, small, low-cost, autonomous surface vehicles in the form of self-propelled buoys capable of operating in open waters is reported. We detail the successful testing of collective behaviors of systems with up to 50 buoys, achieving scalable deployment and dynamic monitoring in unstructured environments. This constitutes the largest distributed multi-robot system of its kind reported to date. We confirm the robustness of the system to the loss of multiple units for different collective behaviors such as flocking, navigation, and area coverage. For dynamic area monitoring, we introduce a new metric to quantify coverage effectiveness. Our system exhibits near optimal scalability for fixed target areas and a high degree of flexibility when the shape of the target changes with time. This system demonstrates the potential of distributed multi-robot systems for the pervasive and persistent monitoring of coastal and inland water environments. 2021-10-27T20:09:34Z 2021-10-27T20:09:34Z 2018 2020-08-14T14:54:17Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/134869 en 10.1007/S10514-018-9702-0 Autonomous Robots Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Springer Science and Business Media LLC other univ website |
| spellingShingle | Zoss, Brandon M Mateo, David Kuan, Yoke Kong Tokić, Grgur Chamanbaz, Mohammadreza Goh, Louis Vallegra, Francesco Bouffanais, Roland Yue, Dick KP Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title | Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title_full | Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title_fullStr | Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title_full_unstemmed | Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title_short | Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| title_sort | distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies |
| url | https://hdl.handle.net/1721.1/134869 |
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