NOVELTY SEARCH IN THE EVOLUTION OF HETEROGENEOUS MULTI-ROBOT SYSTEMS

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Design of Communication and Control for Swarms of Aquatic Surface Drones

Publication . Christensen, Anders Lyhne; Oliveira, Sancho; Postolache, Octavian; Oliveira, Maria João de; Sargento, Susana; Santana, Pedro; Nunes, Luis; Velez, Fernando J.; Sebastião, Pedro; Costa, Vasco; Duarte, Miguel; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando

The availability of relatively capable and inexpensive hardware components has made it feasible to consider large-scale systems of autonomous aquatic drones for maritime tasks. In this paper, we present the CORATAM and HANCAD projects, which focus on the fundamental challenges related to communication and control in swarms of aquatic drones. We argue for: (i) the adoption of a heterogeneous approach to communication in which a small subset of the drones have long-range communication capabilities while the majority carry only short-range communication hardware, and (ii) the use of decentralized control to facilitate inherent robustness and scalability. A heterogeneous communication system and decentralized control allow for the average drone to be kept relatively simple and therefore inexpensive. To assess the proposed methodology, we are currently building 25 prototype drones from off-the-shelf components. We present the current hardware designs and discuss the results of simulation-based experiments involving swarms of up to 1,000 aquatic drones that successfully patrolled a 20 km-long strip for 24 hours.

2015-01Documento de conferência

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Fundação para a Ciência e a Tecnologia

Número da atribuição

SFRH/BD/89095/2012