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Rapport (Rapport De Recherche) Année : 2012

THE LOCALIZATION PROBLEM FOR AN UNDERWATER SWARM

Résumé

HARNESS (Human telecontrolled Adaptive Robotic NEtwork of SensorS) project is dealing with an underwater multi body robotic systems (swarm). A swarm is able to perform tasks in a more fast and robust way with respect of a single machine. Moreover a swarm has the advantage of a simple way of interfacing with the human users, overcoming the problem of controlling a large number of individuals; the system is adaptable to the environmental characteristics and the geometrical distribution of the multi robot system is linked to the communication channel. The aim of the project is the integration between individual, collective and communication controls of the swarm to maximize performance of the system. The project is founded by Italian Institute of Technology (IIT). Localization problem of the swarm relatively to themselves and to a reference system is one of the most challenge to be overcome. In this paper we give an overview of the used systems and propose some hypothesis that can be applied to our case. A large literature is examined.
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Dates et versions

hal-01977313 , version 1 (10-01-2019)

Identifiants

  • HAL Id : hal-01977313 , version 1

Citer

Ramiro Dell'Erba. THE LOCALIZATION PROBLEM FOR AN UNDERWATER SWARM. [Research Report] ENEA. 2012. ⟨hal-01977313⟩

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