Accession Number : ADA556697


Title :   Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed


Descriptive Note : Conference paper


Corporate Author : NAVAL AIR WARFARE CENTER WEAPONS DIV CHINA LAKE CA RESEARCH AND ENGINEERING GRP/ WEAPONS-ENERGETICS DEPT


Personal Author(s) : Keeter, Matthew ; Moore, Daniel ; Muller, Ryan ; Nieters, Eric ; Flenner, Jennifer ; Martonosi, Susan E ; Bertozzi, Andrea L ; Percus, Allon G ; Levy, Rachel


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a556697.pdf


Report Date : Jan 2012


Pagination or Media Count : 8


Abstract : We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-to-point controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Levy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions.


Descriptors :   *SUBMARINES , ALGORITHMS , COMPUTER PROGRAMS , REMOTE CONTROL , SEARCHING , SELF OPERATION , SIMULATION , SYMPOSIA


Subject Categories : Cybernetics
      Submarine Engineering


Distribution Statement : APPROVED FOR PUBLIC RELEASE