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A pheromone-inspired monitoring strategy using a swarm of underwater robots
Li GN(李冠男)1,2,3; Chen, Chao4; Geng C(耿超)1,2,5; Li, Meng6; Xu HL(徐红丽)1,2; Lin Y(林扬)1,2
Department海洋信息技术装备中心
Source PublicationSensors (Switzerland)
ISSN1424-8220
2019
Volume19Issue:19Pages:1-25
Indexed BySCI ; EI
EI Accession number20194207558417
WOS IDWOS:000494823200033
Contribution Rank1
Funding OrganizationState Key Laboratory of Robotics Foundation (Nos. 2016-Z08 and Nos. 2017-Z05) ; Equipment Pre-research Joint Foundation (No. 6141A01061601) ; Defense Technology Innovation Funds (No. 18-H863-00-TS-002-034-01)
Keywordswarm robotics underwater robot virtual pheromone marine monitoring target search
Abstract

The advent of the swarm makes it feasible to dynamically monitor a wide area for maritime applications. The crucial problems of underwater swarm monitoring are communication and behavior coordination. To tackle these problems, we propose a wide area monitoring strategy that searches for static targets of interest simultaneously. Traditionally, an underwater robot adopts either acoustic communication or optical communication. However, the former is low in bandwidth and the latter is short in communication range. Our strategy coordinates underwater robots through indirect communication, which is inspired by social insects that exchange information by pheromone. The indirect communication is established with the help of a set of underwater communication nodes. We adopt a virtual pheromone-based controller and provide a set of rules to integrate the area of interest into the pheromone. Based on the information in the virtual pheromone, behavior laws are developed to guide the swarm to monitor and search with nearby information. In addition, a robot can improve its performance when using additional far-away pheromone information. The monitoring strategy is further improved by adopting a swarm evolution scheme which automatically adjusts the visiting period. Experimental results show that our strategy is superior to the random strategy in most cases.

Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25774
Collection海洋信息技术装备中心
Corresponding AuthorChen, Chao
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China
5.School of Information Science and Engineering, Northeastern University, Shenyang 110819, China
6.The School of Information and Science Technology, Zhejiang Sci-Tech University (ZSTU), Hangzhou 310018, China
Recommended Citation
GB/T 7714
Li GN,Chen, Chao,Geng C,et al. A pheromone-inspired monitoring strategy using a swarm of underwater robots[J]. Sensors (Switzerland),2019,19(19):1-25.
APA Li GN,Chen, Chao,Geng C,Li, Meng,Xu HL,&Lin Y.(2019).A pheromone-inspired monitoring strategy using a swarm of underwater robots.Sensors (Switzerland),19(19),1-25.
MLA Li GN,et al."A pheromone-inspired monitoring strategy using a swarm of underwater robots".Sensors (Switzerland) 19.19(2019):1-25.
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