Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring
© 2018 IEEE. Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key challenge in swarm robotics design is the effici...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/137974 |
| _version_ | 1826207050664771584 |
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| author | Vallegra, Francesco Mateo, David Tokic, Grgur Bouffanais, Roland Yue, Dick K. P. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Vallegra, Francesco Mateo, David Tokic, Grgur Bouffanais, Roland Yue, Dick K. P. |
| author_sort | Vallegra, Francesco |
| collection | MIT |
| description | © 2018 IEEE. Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key challenge in swarm robotics design is the efficient collective operation of heterogeneous systems. We present both theoretical analysis and field experiments on the responsiveness in dynamic area coverage of a collective of 22 autonomous buoys, where 4 units are upgraded to a new design that allows them to move 80% faster than the rest. This system is able to react on timescales of the minute to changes in areas on the order of a few thousand square meters. We have observed that this partial upgrade of the system significantly increases its average responsiveness, without necessarily improving the spatial uniformity of the deployment. These experiments show that the autonomous buoy designs and the cooperative control rule described in this work provide an efficient, flexible, and scalable solution for the pervasive and persistent monitoring of water environments. |
| first_indexed | 2024-09-23T13:42:43Z |
| format | Article |
| id | mit-1721.1/137974 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:42:43Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1379742021-11-10T03:22:11Z Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring Vallegra, Francesco Mateo, David Tokic, Grgur Bouffanais, Roland Yue, Dick K. P. Massachusetts Institute of Technology. Department of Mechanical Engineering © 2018 IEEE. Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key challenge in swarm robotics design is the efficient collective operation of heterogeneous systems. We present both theoretical analysis and field experiments on the responsiveness in dynamic area coverage of a collective of 22 autonomous buoys, where 4 units are upgraded to a new design that allows them to move 80% faster than the rest. This system is able to react on timescales of the minute to changes in areas on the order of a few thousand square meters. We have observed that this partial upgrade of the system significantly increases its average responsiveness, without necessarily improving the spatial uniformity of the deployment. These experiments show that the autonomous buoy designs and the cooperative control rule described in this work provide an efficient, flexible, and scalable solution for the pervasive and persistent monitoring of water environments. 2021-11-09T16:49:23Z 2021-11-09T16:49:23Z 2018-10 2020-08-14T15:04:31Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137974 Vallegra, Francesco, Mateo, David, Tokic, Grgur, Bouffanais, Roland and Yue, Dick K. P. 2018. "Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring." OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. en 10.1109/oceans.2018.8604642 OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Vallegra, Francesco Mateo, David Tokic, Grgur Bouffanais, Roland Yue, Dick K. P. Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title | Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title_full | Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title_fullStr | Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title_full_unstemmed | Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title_short | Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring |
| title_sort | gradual collective upgrade of a swarm of autonomous buoys for dynamic ocean monitoring |
| url | https://hdl.handle.net/1721.1/137974 |
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