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Andrea Caiti (1,2), Pino Casalino (1,3), Andrea Munaf (1,2), Enrico Simetti (1,3), Alessio Turetta (1,3) (1) ISME Interuniv. Res. Ctr. Integrated Sys. Marine Env. (2) DSEA & Centro Piaggio - University of Pisa, Italy (3) DIST University of Genova Italy Genova, caiti@dsea.unipi.it
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AUVs for environmental sampling
gliders propelled hybrid
Some AUVs
Oceanographic gliders O hi lid
very long endurance inexpensive oceanographic sampling hi li pre-programmed mission cooperation (Leonard et al.)
Hybrid vehicles
some endurance inexpensive oceanographic sampling pre programmed pre-programmed mission cooperation
shallow water
some endurance moderately expensive oceanography, seabed mapping pre-programmed, cooperation
Data driven:
use data to determine next way-point autonomous p u o o ous planning as we as autonomous navigation g s well s u o o ous v g o feedback only
Other instances:
water quality in touristic coastal areas industry discharge security: intrusion detection, mine/ordeal search
Sampling metric
deterministic setting: smoothness probabilistic setting: information gain application-dependent weighing li i d d i hi use tools from both approaches
F (r; t ) S k
n
projection over a space of basis functions, ordered with increasing variability F (r; t ) = h (r; t ) h =p F ; f i i i i i
hi 2 i =n
<k
Adapt the sampling step to the local smoothness Estimate local smoothness from available data
Sense
jointly
F (r; t ) = T ( F (ri ; ti )( k ) ) i = 1,..., k = 0,...
distributed di ib d collaborative
(ri ; ti )( k +1)
prediction
y (k ) correction
x( k / k ) C(k / k )
Multi-path structure li h
causes symbolic interference limitations on coding/decoding schemes
Acoustic channel predictions used to determine relative depths and maximum range among Tx/Rx to guarantee a given SNR
environmental conditions geometrical spreading intrinsic attenuation wave interference patterns range independent stationary sources
Includes ( in TL):
Simplifications:
(Stojanovic, 07)
Team localization
A team of AUVs must be cheap! Underwater navigation is a major source of vehicle cost
inertial systems
Use the acoustic modems also to localize acoustically the vehicles among the team with range-only measurements Some vehicles at the surface, g , geo-referenced; relative ; localization
DGPS
Alternate between ranging and communication COTS modems available (WHOI, Evologics, ...) (WHOI Evologics ) Use depth sensors to convert from 3D to 2D Several issues:
linear vs. nonlinear estimate observability depending on relative vehicle motion compensate for transmission delays on-board correction for bended ray-paths clock synchronization
Our approach: distributed EKF with delay (from team theory work dating back to the 80s!)
V V
emitter depth
11
12
..
V V
.
1n
21
22
.. . .. . .. .
2n
... ...
..
n1
n2
nn
V ab = [ V ab ( k1 ), V ab ( k 2 ), L , V ab ( k m ) ]
2 3 4 1 2 3 4 Vab (k ) = [T , 1 , ab , ab , ab | R, rab , rab , rab , rab ] ab
: RBF family
h: fill distance G: known function
Communication/range constraint
Next sampling points must preserve connectivity of the communication structure
C ( p j , p j+1 )
Next graph
C ( p j , p j+1 )
Backward phase
Forward phase p
Comms intensive
salinity (ppm)
4.5 4
5
38.6 38.5 38.4
4.5 4
salinty (ppm)
38.6
38.2
38.1 38
1.5 1
37.8
37.6 0.5 0
2 x (km)
Each agent/node
Builds a local map of channel characteristics and comms performance Updates the map when new environmental measurements become available Adapts its behaviour to tackle changes in the environment
min x xa xi cover with the sonars 2 i i the greatest area h i j around the asset to xi x j RD + RD , i, j 2 p protect i i, j : xi x j RC 2 Find a solution with distributed decisions using only closest neighborhood information
Interest functions
Ineherently robust to communication loss & equipment f l failure! Can include sonar/modem directionality
Distributed, scalable algorithm, independent from AUV # Comms delay do not alter result, but imply longer vehicle paths and slower convergence
Experimental test
6-30 September 10, Pianosa Island b i l d
Conclusions
A set of tools for autonomous cooperative adaptive sampling with a team of AUV context: data-driven adaptation
deterministic and probabilistic metrics acoustic communication prediction cooperative distributed localization
behaviour-based
robust li ht comms light optimality and convergence not guaranteed but for special cases