Underwater swarm robotics consensus control

The control of a swarm of underwater robots requires more than just a control algorithm, it requires a communications system. Underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to work on minimal and out of date information. The control system must also be able to control a large number of robots without a master control, a decentralized control approach. This paper describes one such control method

Design of a prototype underwater research platform for swarm robotics

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels are not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Also it must be able to navigate and avoid obstacles. Further if this platform is to be part of a swarm of like platforms then it must be cost effective and relatively small. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This article describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics. Whilst the robotic platform performs well, to explore what many of them would do, that is more than are available, simulation is required. This article continues to study how best to simulate these robots for a swarm, or system of systems, approach

Consensus control for a system of underwater swarm robots

The control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal

Simulation of underwater robots using MS Robot Studio©

One stage in designing the control for underwater robot swarms is to confirm the control algorithms via simulation. To perform the simulation Microsoftpsilas Robotic Studiocopy was chosen. The problem with this simulator and others like it is that it is set up for land-based robots only. This paper explores one possible way to get around this limitation. This solution cannot only work for underwater vehicles but aerial vehicles as well.<br /

RF communication between surface and underwater robotic swarms

In order for underwater robots to communicate with land and air based robots on an equal basis, high speed communications is required. If the robots are not to be tethered then wireless communications is the only possibility. Sonar communications is too slow. Unfortunately radio waves are rapidly attenuated under water due to phenomena such as skin depth. These experiments attempt to extend the range of underwater radio communications.<br /

Applications and prototype for systems of systems swarm robotics

In order to develop a robotic system of systems the robotic platforms must be designed and built. For this to happen, the type of application involved should be clear. Swarm robots need to be self contained and powered. They must also be self governing. Here the authors examine various applications and a prototype robot that may be useful in these scenarios. <br /

Underwater swarm robotics review

Underwater robotics is a growing field in which more research is required. A literature review has been conducted on underwater robotics, focusing on the swarm problem with this type of robotics to help overcome this gap. Consensus control of robotic swarms is focused on, with a brief description of formation control and how it can be applied in the underwater setting. The basic concepts behind Particle Swarm Optimization, Ant Colony Optimization, Bees Algorithm and Heterogeneous Swarms has also been presented. The problems that are associated with communicating underwater are shown, with some possible solutions to this problem also being presented. Possible future work is described to conclude the paper

Teaching engineering design using modular methods with virtual tools

Design practice for the successful design of engineering systems expects design engineers topossess a vast subject knowledge of different engineering systems and acquire a set of design skillswhich are typical of a senior engineer with many years of design experience. Further, design traditionoften requires the creation of a physical prototype to verify the design progress against the projectspecifications and to perform early product acceptance testing.As a senior design engineer at the Centre for Medical Radiation Physics, University of Wollongong,the author was instrumental in improving the design process of complex systems by incorporating amodular design methodology to reduce the complexity of the design through partitioning into functionalmodules. Verification of the design was achieved through virtual mode testing of the design with virtualtools such as Altium, Multisim, Solidworks and Ansys Simplorer