Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots

A. Amory; B. Meyer; C. Osterloh; T. Tosik; E. Maehle

doi:10.1109/IPDPSW.2013.215

Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots

A. Amory, B. Meyer, C. Osterloh, T. Tosik, E. Maehle

Institute of Computer Engineering

Abstract

The increasing urgency to study the world's native water bodies regarding environmental monitoring leads to a worldwide growing interest in the development of Autonomous Underwater Vehicles (AUVs). The robots are equipped with several sensors, e.g. cameras, environmental tracking systems and acoustic modules which provide an inexpensive alternative to manual investigations. To increase mission time and decrease sensitivity against faults, a swarm of such underwater robots can afford many benefits. Hence this paper presents the development of the miniature AUV MONSUN II, which acts in a networked swarm to reach an energy-efficient behaviour with simultaneous consideration of fault-tolerance. Therefore, the robots use their communication network to propagate internal states and build underwater formations according to current mission tasks.

Original language	English
Title of host publication	2013 IEEE International Symposium on Parallel Distributed Processing, Workshops and Phd Forum
Number of pages	4
Publisher	IEEE
Publication date	01.05.2013
Pages	1550-1553
ISBN (Print)	978-0-7695-4979-8
ISBN (Electronic)	978-0-7695-4979-8
DOIs	https://doi.org/10.1109/IPDPSW.2013.215
Publication status	Published - 01.05.2013
Event	2013 IEEE 27th International Parallel and Distributed Processing Symposium Workshops and PhD Forum - Boston, United States Duration: 20.04.2013 → 24.04.2013 Conference number: 101626

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IPDPSW.2013.215

Cite this

@inproceedings{51190bce8bff494193474815e29dc9bd,

title = "Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots",

abstract = "The increasing urgency to study the world's native water bodies regarding environmental monitoring leads to a worldwide growing interest in the development of Autonomous Underwater Vehicles (AUVs). The robots are equipped with several sensors, e.g. cameras, environmental tracking systems and acoustic modules which provide an inexpensive alternative to manual investigations. To increase mission time and decrease sensitivity against faults, a swarm of such underwater robots can afford many benefits. Hence this paper presents the development of the miniature AUV MONSUN II, which acts in a networked swarm to reach an energy-efficient behaviour with simultaneous consideration of fault-tolerance. Therefore, the robots use their communication network to propagate internal states and build underwater formations according to current mission tasks.",

author = "A. Amory and B. Meyer and C. Osterloh and T. Tosik and E. Maehle",

year = "2013",

month = may,

day = "1",

doi = "10.1109/IPDPSW.2013.215",

language = "English",

isbn = "978-0-7695-4979-8",

pages = "1550--1553",

booktitle = "2013 IEEE International Symposium on Parallel Distributed Processing, Workshops and Phd Forum",

publisher = "IEEE",

note = "2013 IEEE 27th International Parallel and Distributed Processing Symposium Workshops and PhD Forum, IPDPSW 2013 ; Conference date: 20-04-2013 Through 24-04-2013",

}

Amory, A, Meyer, B, Osterloh, C, Tosik, T & Maehle, E 2013, Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots. in 2013 IEEE International Symposium on Parallel Distributed Processing, Workshops and Phd Forum. IEEE, pp. 1550-1553, 2013 IEEE 27th International Parallel and Distributed Processing Symposium Workshops and PhD Forum, Boston, Massachusetts, United States, 20.04.13. https://doi.org/10.1109/IPDPSW.2013.215

TY - GEN

T1 - Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots

AU - Amory, A.

AU - Meyer, B.

AU - Osterloh, C.

AU - Tosik, T.

AU - Maehle, E.

N1 - Conference code: 101626

PY - 2013/5/1

Y1 - 2013/5/1

N2 - The increasing urgency to study the world's native water bodies regarding environmental monitoring leads to a worldwide growing interest in the development of Autonomous Underwater Vehicles (AUVs). The robots are equipped with several sensors, e.g. cameras, environmental tracking systems and acoustic modules which provide an inexpensive alternative to manual investigations. To increase mission time and decrease sensitivity against faults, a swarm of such underwater robots can afford many benefits. Hence this paper presents the development of the miniature AUV MONSUN II, which acts in a networked swarm to reach an energy-efficient behaviour with simultaneous consideration of fault-tolerance. Therefore, the robots use their communication network to propagate internal states and build underwater formations according to current mission tasks.

AB - The increasing urgency to study the world's native water bodies regarding environmental monitoring leads to a worldwide growing interest in the development of Autonomous Underwater Vehicles (AUVs). The robots are equipped with several sensors, e.g. cameras, environmental tracking systems and acoustic modules which provide an inexpensive alternative to manual investigations. To increase mission time and decrease sensitivity against faults, a swarm of such underwater robots can afford many benefits. Hence this paper presents the development of the miniature AUV MONSUN II, which acts in a networked swarm to reach an energy-efficient behaviour with simultaneous consideration of fault-tolerance. Therefore, the robots use their communication network to propagate internal states and build underwater formations according to current mission tasks.

UR - https://www.scopus.com/record/display.uri?eid=2-s2.0-84899746293&origin=inward&txGid=b9ee4b4e7e4886a42533a39ad5eab502

U2 - 10.1109/IPDPSW.2013.215

DO - 10.1109/IPDPSW.2013.215

M3 - Conference contribution

SN - 978-0-7695-4979-8

SP - 1550

EP - 1553

BT - 2013 IEEE International Symposium on Parallel Distributed Processing, Workshops and Phd Forum

PB - IEEE

T2 - 2013 IEEE 27th International Parallel and Distributed Processing Symposium Workshops and PhD Forum

Y2 - 20 April 2013 through 24 April 2013

ER -

Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots

Abstract

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this