Accession Number:

ADA470223

Title:

Adaptive Sampling in Autonomous Marine Sensor Networks

Descriptive Note:

Doctoral thesis

Corporate Author:

WOODS HOLE OCEANOGRAPHIC INSTITUTION MA

Personal Author(s):

Report Date:

2006-06-01

Pagination or Media Count:

215.0

Abstract:

In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. This architecture has three major components, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive control in complex environments with multiple constraints, and an approach to cooperative robotics that is a hybrid between the swarm cooperation and intentional cooperation approaches. The mobility of the sensor platforms is a key advantage of this strategy, allowing dynamic optimization of the sensor locations with respect to the classification or localization of a process of interest including processes which can be time varying, not spatially isotropic and for which action is required in real-time.

Subject Categories:

  • Miscellaneous Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE