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

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


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 languageEnglish
Title of host publication2013 IEEE International Symposium on Parallel Distributed Processing, Workshops and Phd Forum
Number of pages4
Publication date01.05.2013
ISBN (Print)978-0-7695-4979-8
ISBN (Electronic)978-0-7695-4979-8
Publication statusPublished - 01.05.2013
Event2013 IEEE 27th International Parallel and Distributed Processing Symposium Workshops and PhD Forum - Boston, United States
Duration: 20.04.201324.04.2013
Conference number: 101626


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