Effects of underwater communication constraints on the control of marine robot teams

F. Arrichiello, D. N. Liu, S. Yerramalli, A. Pereira, J. Das, U. Mitra, G. S. Sukhatme

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

We address the effects of the aquatic communication channel constraints on the control performances of marine robot teams. The aquatic acoustic channels suffer from significant frequency and distance dependent attenuation, extensive time-varying multipath, motion-induced Doppler distortion and extreme channel latency due to the low speed of sound. Therefore, the available bandwidth is strongly limited and distance dependent. Due to all these limitations, the introduction of intravehicle exchanged information in the control loop of marine robots can degrade the overall system performance. We give an overview of the communication needs in the control of a marine robotic team. A realistic model of the aquatic communication channel is considered, and different limitations of the channel are addressed, e.g., message error rate and communication delays. An overview of the experimental test-bed that is used to study the communication characteristics of the aquatic channel is presented. Finally, we report on an extensive simulation study on the performance of a controller for a marine surface vessel which relies on an acoustic communication channel for information sensed at a distance.

Original languageEnglish (US)
Title of host publication2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
StatePublished - Sep 10 2009
Externally publishedYes
Event2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 - Odense, Denmark
Duration: Mar 31 2009Apr 2 2009

Publication series

Name2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009

Other

Other2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
CountryDenmark
CityOdense
Period3/31/094/2/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Software

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