Please use this identifier to cite or link to this item:
https://doi.org/10.1109/OCEANS-Bergen.2013.6607954
DC Field | Value | |
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dc.title | A bio-inspired distributed approach for searching underwater acoustic source using a team of AUVs | |
dc.contributor.author | Shaukat, M. | |
dc.contributor.author | Chitre, M. | |
dc.contributor.author | Ong, S.H. | |
dc.date.accessioned | 2014-06-19T02:52:26Z | |
dc.date.available | 2014-06-19T02:52:26Z | |
dc.date.issued | 2013 | |
dc.identifier.citation | Shaukat, M.,Chitre, M.,Ong, S.H. (2013). A bio-inspired distributed approach for searching underwater acoustic source using a team of AUVs. OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension : -. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/OCEANS-Bergen.2013.6607954" target="_blank">https://doi.org/10.1109/OCEANS-Bergen.2013.6607954</a> | |
dc.identifier.isbn | 9781479900015 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/68717 | |
dc.description.abstract | We present a bio-inspired distributed algorithm which is a fusion of two distinct animal behaviours to solve three different underwater search missions. One of the two constituent control modules is called target-drive which models the hypothesized behaviour of a fish-larva searching for a coral reef using acoustic cues. Target-drive helps a single Autonomous Underwater Vehicle (AUV) to adjust its heading towards the acoustic source. The other control module called group-cohesion, mimics movements of a golden shiner (Notemigonus crysoleucas) in a school of fish. The proposed approach only relies on implicit communication and achieves target convergence only by assuming a single on-board hydrophone and location estimate of AUV's neighbours. The effects of varying key parameters such as group-size and neighbourhood-radius on convergence times have been thoroughly investigated. We present a preliminary analysis of the algorithm's performance which shows promise in solving problems employing small teams of AUVs in terms of convergence times and non-existent inter-agent communication. © 2013 IEEE. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/OCEANS-Bergen.2013.6607954 | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
dc.description.doi | 10.1109/OCEANS-Bergen.2013.6607954 | |
dc.description.sourcetitle | OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension | |
dc.description.page | - | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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