Cooperative swarm behaviour for in situ underwater environmental measurements

C. Isokeit, B. Meyer, E. Maehle


This paper presents an approach to perform comprehensive in situ environmental measurements in shallow waterbodies with the help of a swarm of small and flexible autonomous underwater vehicles (AUVs). To perform simultaneous measurements at different locations, the mission is automatically subdivided amongst the robots using a rule-based robot control architecture and special heuristics depending on internal robot states. This allows a significantly larger coverage of CTD measurements reducing costs on the one hand and minimizing the overall mission times on the other hand.
Original languageEnglish
Title of host publicationOCEANS 2017 - Aberdeen
Number of pages6
Publication date01.06.2017
ISBN (Print) 978-1-5090-5279-0
ISBN (Electronic) 978-1-5090-5278-3
Publication statusPublished - 01.06.2017
EventOCEANS 2017 - Aberdeen, United Kingdom
Duration: 19.06.201722.06.2017


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