A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Clicks: 255
ID: 112874
2020
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Abstract
This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.
Reference Key
babić2020sensorsa Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Anja Babić;Ivan Lončar;Barbara Arbanas;Goran Vasiljević;Tamara Petrović;Stjepan Bogdan;Nikola Mišković;Babić, Anja;Lončar, Ivan;Arbanas, Barbara;Vasiljević, Goran;Petrović, Tamara;Bogdan, Stjepan;Mišković, Nikola;
Journal sensors
Year 2020
DOI
10.3390/s20164615
URL
https://www.mdpi.com/1424-8220/20/16/4615
Keywords
anomaly detection marine robotics swarm multi-vehicle system underwater acoustic sensor network cooperative control underwater monitoring

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