Multi-robot collaboration with range-limited communication: Experiments with two underactuated ASVs

Filippo Arrichiello, Jnaneshwar Das, Hordur Heidarsson, Arvind Pereira, Stefano Chiaverini, Gaurav S. Sukhatme

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

We present a collaborative team of two under-actuated autonomous surface vessels (ASVs) that performs a cooperative navigation task while satisfying a communication constraint. Our approach is based on the use of a hierarchical control structure where a supervisory module commands each vessel to perform prioritized elementary tasks, a behavior-based controller generates motion directives to achieve the assigned tasks, and a maneuvering controller generates the actuator commands to follow the motion directives. The control technique has been tested in a mission where a set of target locations spread across a planar environment has to be visited once by either of the two ASVs while maintaining a relative separation less than a given maximum distance (to guarantee inter-ASV wireless communication). Experiments were carried out in the field with a team of two ASVs visiting 22 locations on a lake surface (approximately 30000m2) with static obstacles. Results show a 30% improvement in mission time over the single-robot case.

Original languageEnglish (US)
Pages (from-to)443-453
Number of pages11
JournalSpringer Tracts in Advanced Robotics
Volume62
StatePublished - Jan 1 2010
Externally publishedYes

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Robots
Communication
Experiments
Controllers
Lakes
Navigation
Actuators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Arrichiello, F., Das, J., Heidarsson, H., Pereira, A., Chiaverini, S., & Sukhatme, G. S. (2010). Multi-robot collaboration with range-limited communication: Experiments with two underactuated ASVs. Springer Tracts in Advanced Robotics, 62, 443-453.

Multi-robot collaboration with range-limited communication : Experiments with two underactuated ASVs. / Arrichiello, Filippo; Das, Jnaneshwar; Heidarsson, Hordur; Pereira, Arvind; Chiaverini, Stefano; Sukhatme, Gaurav S.

In: Springer Tracts in Advanced Robotics, Vol. 62, 01.01.2010, p. 443-453.

Research output: Contribution to journalArticle

Arrichiello, F, Das, J, Heidarsson, H, Pereira, A, Chiaverini, S & Sukhatme, GS 2010, 'Multi-robot collaboration with range-limited communication: Experiments with two underactuated ASVs', Springer Tracts in Advanced Robotics, vol. 62, pp. 443-453.
Arrichiello, Filippo ; Das, Jnaneshwar ; Heidarsson, Hordur ; Pereira, Arvind ; Chiaverini, Stefano ; Sukhatme, Gaurav S. / Multi-robot collaboration with range-limited communication : Experiments with two underactuated ASVs. In: Springer Tracts in Advanced Robotics. 2010 ; Vol. 62. pp. 443-453.
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