Experiments with Cooperative Control of Underwater Robots

Authors:
Matthew Dunbabin;Peter Corke;Iuliu Vasilescu;Daniela Rus
Affiliations:
CSIRO ICT Centre, Brisbane, Australia,;CSIRO ICT Centre, Brisbane, Australia;Massachusetts Institute of Technology, Cambridge, MA, USA;Massachusetts Institute of Technology, Cambridge, MA, USA
Venue:
International Journal of Robotics Research
Year:
2009

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Abstract

In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information such as data download and retasking; cooperative localization and tracking; and physical connection (docking) for tasks such as deployment of underwater sensor networks, collection of nodes and rescue of damaged robots. We present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules. We present the hardware and software architecture of this underwater system. We then describe various interactions between the robots and sensor nodes and between the two robots, including cooperative navigation. Finally, we describe our experiments with this underwater system and present data.