Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed

Authors

Matthew J. Keeter '11, Harvey Mudd CollegeFollow
Daniel J. Moore '11, Harvey Mudd CollegeFollow
Ryan A. Muller '11, Harvey Mudd CollegeFollow
Eric A. Nieters '11, Harvey Mudd CollegeFollow
Jennifer Flenner, Claremont Graduate University
Susan E. Martonosi, Harvey Mudd CollegeFollow
Andrea L. Bertozzi, University of California - Los Angeles
Allon G. Percus, Claremont Graduate University
Rachel Levy, Harvey Mudd CollegeFollow

Student Co-author

HMC Undergraduate, CGU Graduate

Document Type

Conference Proceeding

Department

Mathematics (HMC)

Publication Date

6-2012

Abstract

We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-topoint controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Levy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions.

Rights Information

© 2012 AACC

Recommended Citation

Keeter, M.; Moore, D.; Muller, R.; Nieters, E.; Flenner, J.; Martonosi, S.E.; Bertozzi, A.L.; Percus, A.G.; Levy, R., "Cooperative search with autonomous vehicles in a 3D aquatic testbed," American Control Conference (ACC), 2012 , vol., no., pp.3154,3160, 27-29 June 2012