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Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles

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Field and Service Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 42))

Summary

Knowledge of iso-contours of the underwater terrain can be used to reconstruct it using interpolation. Identifying a set of isoclines can be more efficient and less time-intensive than sweeping a large area. In this paper, we propose a system where a small number of agile underwater vehicles cooperatively maintain a polygonal formation on a plane above the terrain and use field values measured by the individual robots to locally reconstruct the field using interpolation schemes. The formation then tracks a desired iso-contour of the field by tracking the corresponding curve on the reconstructed field.

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Christian Laugier Roland Siegwart

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© 2008 Springer-Verlag Berlin Heidelberg

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Kalantar, S., Zimmer, U. (2008). Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_13

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  • DOI: https://doi.org/10.1007/978-3-540-75404-6_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-75403-9

  • Online ISBN: 978-3-540-75404-6

  • eBook Packages: EngineeringEngineering (R0)

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