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    Leader-Follower Approach with an On-board Localization Scheme for Underwater Swarm Applications

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    Type
    Thesis
    Authors
    Toonsi, Sarah cc
    Advisors
    Shamma, Jeff S. cc
    Committee members
    Shamma, Jeff S. cc
    Ooi, Boon S. cc
    Jones, Burton cc
    Program
    Electrical and Computer Engineering
    KAUST Department
    Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division
    Date
    2019-08
    Permanent link to this record
    http://hdl.handle.net/10754/656589
    
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    Abstract
    A striking feature of swarm robotics is its ability to solve complex tasks through simple local interactions between robots. Those interactions require a good infrastructure in communication and localization. However, in underwater environments, the severe attenuation of radio waves complicates communication and localization of different vehicles. Existing literature on underwater swarms use centralized network topology which require physical vicinity to the central node to ensure reliability. We are interested in building a decentralized underwater swarm with a decentralized network topology that only requires neighbour communication and self-localization. We develop a simple leader-follower interaction rule where the follower estimates the leader's position and acts upon that estimation. The leader shines a 450 nm diffracted blue laser that the follower uses to continuously align its light sensors to the light source. Furthermore, the leader's laser can be modulated for explicit communication purposes. The proposed leader-follower approach produces satisfactory results in surge and sway axes, however, it is not robust against illumination changes in the environment. We then proceed to solve the self-localization problem, by fusing Inertial Measurement Unit (IMU) values with the thrust to estimate a robot’s position. In an Ardusub Simulation in the loop (SITL), the particle filter showed a slightly better performance than the Extended Kalman Filter (EKF) in the surge axis. However, both filters are prone to drifting after a while. We have observed that IMU values need to be filtered properly or another reliable sensor must be used alternatively.
    Citation
    Toonsi, S. (2019). Leader-Follower Approach with an On-board Localization Scheme for Underwater Swarm Applications. KAUST Research Repository. https://doi.org/10.25781/KAUST-T4CS0
    DOI
    10.25781/KAUST-T4CS0
    ae974a485f413a2113503eed53cd6c53
    10.25781/KAUST-T4CS0
    Scopus Count
    Collections
    MS Theses; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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