Accession Number : ADA573763


Title :   Advances in Integrating Autonomy with Acoustic Communications for Intelligent Networks of Marine Robots


Descriptive Note : Doctoral thesis


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE JOINT PROGRAM IN APPLIED OCEAN SCIENCE AND ENGINEERING


Personal Author(s) : Schneider, Toby E


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a573763.pdf


Report Date : Feb 2013


Pagination or Media Count : 165


Abstract : Autonomous marine vehicles are increasingly used in clusters; the effectiveness of this collaboration is often limited by communications. This thesis argues that improved communication can be gained by acting on knowledge from improved awareness of the physical acoustic link and higher network layers by the autonomous underwater vehicle's (AUV's) decision making software. This thesis presents a modular acoustic networking framework called Goby-Acomms which provides underwater vehicles with an efficient short-range single-hop network. Goby-Acomms is comprised of short message serialization, queuing which prioritizes based both on importance and time sensitivity, medium access control with passive automatic discovery, and an abstract modem driver. Also, two approaches that use the vehicle's intelligence to improve communications are presented. The first is a non-disruptive approach which uses state observers in conjunction with an entropy source encoder to enable highly compressed telemetry of AUV position vectors. The second approach is disruptive, as it changes the vehicle's course to effect an improvement in the communications channel. This technique is an autonomous environmental adaptation framework which allows AUVs to follow a path which optimizes their ability to maintain connectivity with an acoustic contact for optimal sensing or communication.


Descriptors :   *ACOUSTIC COMMUNICATIONS , *AUTONOMOUS NAVIGATION , *UNDERWATER VEHICLES , CODING , COMPUTER PROGRAMS , DECISION MAKING , DEEP OCEANS , IN SITU ANALYSIS , MESSAGE PROCESSING , NETWORKS , QUEUEING THEORY , ROBOTS , SHALLOW WATER


Subject Categories : Computer Programming and Software
      Cybernetics
      Underwater and Marine Navigation and Guidance
      Non-radio Communications


Distribution Statement : APPROVED FOR PUBLIC RELEASE