Coordination of autonomous underwater vehicles for acoustic image acquisition

Indraneel S. Kulkarni, Dario Pompili

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Underwater Acoustic Sensor Networks (UW-ASNs) consist of stationary sensors or Autonomous Underwater Vehicles (AUVs) like propeller-driven vehicles and gliders that are equipped with sensors for performing collaborative monitoring tasks. In this paper, a task optimization framework for image acquisition using a fleet of underwater gliders and AUVs is proposed. The objective of the framework is to form the best possible team and to find the optimal trajectory to reach the selected target object. In this paper, the use of a team of underwater gliders and AUVs for acquiring still images of underwater objects is envisaged. Research specific to this area has been limited. Hence, a framework based on energy minimization for a team of gliders to complete the mission in given time bound is proposed. Further, performance of propeller-driven AUVs and gliders is compared to prove the energy efficiency of the gliders over AUVs for missions with large time bound.

Original languageEnglish (US)
Title of host publicationProceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference
Pages27-34
Number of pages8
StatePublished - Dec 1 2008
Event3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference - San Francisco, CA, United States
Duration: Sep 8 2008Sep 12 2008

Other

Other3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference
CountryUnited States
CitySan Francisco, CA
Period9/8/089/12/08

Fingerprint

Gliders
Autonomous underwater vehicles
Image acquisition
Acoustics
Propellers
Underwater acoustics
Sensors
Sensor networks
Energy efficiency
Trajectories
Monitoring

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Software
  • Electrical and Electronic Engineering

Cite this

Kulkarni, I. S., & Pompili, D. (2008). Coordination of autonomous underwater vehicles for acoustic image acquisition. In Proceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference (pp. 27-34)
Kulkarni, Indraneel S. ; Pompili, Dario. / Coordination of autonomous underwater vehicles for acoustic image acquisition. Proceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference. 2008. pp. 27-34
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Kulkarni, IS & Pompili, D 2008, Coordination of autonomous underwater vehicles for acoustic image acquisition. in Proceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference. pp. 27-34, 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference, San Francisco, CA, United States, 9/8/08.

Coordination of autonomous underwater vehicles for acoustic image acquisition. / Kulkarni, Indraneel S.; Pompili, Dario.

Proceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference. 2008. p. 27-34.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kulkarni IS, Pompili D. Coordination of autonomous underwater vehicles for acoustic image acquisition. In Proceedings of the 3rd International Workshop on Underwater Networks, WUWNet'08, Co-located with the ACM MobiCom 2008 Conference. 2008. p. 27-34