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STARFISH – A small team of autonomous robotic fish

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Title STARFISH – A small team of autonomous robotic fish
 
Creator Koay, T.B.
Tan, Y.T.
Eng, Y.H.
Gao, R.
Chitre, M.
Chew, J.L.
Chandhavarkar, N.
Khan, R.R.
Taher, T.
Koh, J.
 
Subject AUV
Teams
Cooperation
Vehicle
 
Description 157-167
STARFISH
AUVs (Autonomous Underwater Vehicles) are a group of open architecture vehicles
with high degree of modularity and well defined mechanical, electrical, and
software interfaces. This enables the baseline AUV configuration  to be simple and low in cost, while allowing its
capabilities to be extended with various specialized modules depending on the need.
Various AUVs can easily be configured in different ways to form a team of
heterogeneous AUVs tailored to a specific mission. STARFISH AUVs employ a
flexible Command and Control (C2) architecture that is capable of adapting to
various configurations of AUVs. The vehicle command is loosely based on the C2
hierarchy in submarines, with software agents such as Captain, Executive Officer,
Navigator, etc interacting to each other to control the AUV’s behaviors. Numerous
field trials have been conducted in open waters. Results from some of these trials
are presented in this paper to illustrate the capability of deploying a
heterogeneous team of cooperative AUVs. Specifically, the mission illustrated
shows how a single AUV with high positioning accuracy can be used to reduce the
positioning error of one or more AUVs with poorer navigational sensors.
 
Date 2011-05-23T11:05:16Z
2011-05-23T11:05:16Z
2011-04
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/11719
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.40(2) [April 2011]