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Advisor(s)
Abstract(s)
This work presents a hybrid maneuver for gradient search with multiple AUV's.
The mission consists in following a gradient field in order to locate the source of a
hydrothermal vent or underwater freshwater source. The formation gradient search
exploits the environment structuring by the phenomena to be studied. The ingredients for
coordination are the payload data collected by each vehicle and their knowledge of the
behaviour of other vehicles and detected formation distortions.
Description
Keywords
Coordination of autonomous robots Autonomous underwater vehicles Hybrid systems application Marine applications Plume sensing