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Multitarget Search of Swarm Robots in Unknown Complex Environments

You Zhou, Anhua Chen, Hongqiang Zhang, Xin Zhang, Shaowu Zhou
<span title="">2020</span> <i title="Hindawi-Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/y3fh56bfunh5fgneywwba6d4ke" style="color: black;">Complexity</a> </i> &nbsp;
When searching for multiple targets in an unknown complex environment, swarm robots should firstly form a number of subswarms autonomously through a task division model and then each subswarm searches  ...  Besides, it is necessary to make robots avoid other robots and convex obstacles with various shapes in the unknown complex environment.  ...  Acknowledgments is research was supported by the Special Project of Engineering Research Center (item no.: Lgy18gz006).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/8643120">doi:10.1155/2020/8643120</a> <a target="_blank" rel="external noopener" href="https://doaj.org/article/d31fdb18c94a4e4db5fc1de3044805ea">doaj:d31fdb18c94a4e4db5fc1de3044805ea</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5y6bbzbx4nbq5nn4abff2w32g4">fatcat:5y6bbzbx4nbq5nn4abff2w32g4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220129214201/https://downloads.hindawi.com/journals/complexity/2020/8643120.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/db/7d/db7d256380b1285129b07490163a06926d00562e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/8643120"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

Exploration Enhanced RPSO for Collaborative Multitarget Searching of Robotic Swarms

Jian Yang, Ruilin Xiong, Xinhao Xiang, Yuhui Shi, Zhile Yang
<span title="2020-11-28">2020</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/y3fh56bfunh5fgneywwba6d4ke" style="color: black;">Complexity</a> </i> &nbsp;
One of the PSO-based models for robotic swarm searching tasks is Robotic PSO (RPSO).  ...  Meanwhile, because of its inspiration source and the velocity update feature, it is also widely used in the collaborative searching tasks for swarm robotics.  ...  and can be superimposed. e total number of targets is unknown; i.e., the swarm system needs to find as many targets as possible. (3) Environments. e robotic swarm system will work in a 2D environment  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/8863526">doi:10.1155/2020/8863526</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/e5oyo3tmqfbg5ib722nduahhnu">fatcat:e5oyo3tmqfbg5ib722nduahhnu</a> </span>
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An Adaptive Particle Swarm Optimization Algorithm for Distributed Search and Collective Cleanup in Complex Environment

Yi Cai, Zhutian Chen, Jun Li, Qing Li, Huaqing Min
<span title="">2013</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/snvb3djywzbhvjtue42hxtjery" style="color: black;">International Journal of Distributed Sensor Networks</a> </i> &nbsp;
In this paper, we propose a Swarm Intelligence based algorithm to reduce the expectation time for searching targets and removing.  ...  Distributed coordination is critical for a multirobot system in collective cleanup task under a dynamic environment. In traditional methods, robots easily drop into premature convergence.  ...  Acknowledgments This work is supported by National Natural Science Foundation of China (Grant no. 61300137); the Guangdong Natural Science Foundation, China (no.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2013/560579">doi:10.1155/2013/560579</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yje74mvhc5gkhmkebysmybu6iy">fatcat:yje74mvhc5gkhmkebysmybu6iy</a> </span>
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Robotic Brain Storm Optimization: A Multi-target Collaborative Searching Paradigm for Swarm Robotics [article]

Jian Yang, Yuhui Shi
<span title="2021-05-27">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
By matching the members in a robotic swarm to the individuals in the algorithm under both environments and robots constraints, this paper proposes a BSO-based collaborative searching framework for swarm  ...  Swarm intelligence optimization algorithms can be adopted in swarm robotics for target searching tasks in a 2-D or 3-D space by treating the target signal strength as fitness values.  ...  Essentially, the multitarget search problem in swarm robotics can be transformed into a multi-modal optimization problem in a two-dimensional or three-dimensional space [20] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2105.13108v1">arXiv:2105.13108v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/p7b22yufnvhyxolpddcy33ng5q">fatcat:p7b22yufnvhyxolpddcy33ng5q</a> </span>
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Systematic Literature Review of Swarm Robotics Strategies Applied to Target Search Problem with Environment Constraints

Zool Hilmi Ismail, Mohd Ghazali Mohd Hamami
<span title="2021-03-08">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/smrngspzhzce7dy6ofycrfxbim" style="color: black;">Applied Sciences</a> </i> &nbsp;
Notably, 25 selected articles fell under two main categories in environment complexity, namely empty space and cluttered.  ...  Target searching is a well-known but difficult problem in many research domains, including computational intelligence, swarm intelligence, and robotics.  ...  Zheng and Tan in [22] proposed a swarm robot searching strategy of multiple targets in obstructive environments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/app11052383">doi:10.3390/app11052383</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6jbusqxsy5d5lgepoo2j7lwnee">fatcat:6jbusqxsy5d5lgepoo2j7lwnee</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210314131837/https://res.mdpi.com/d_attachment/applsci/applsci-11-02383/article_deploy/applsci-11-02383-v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/90/fc/90fc872ed22d8af2d2354cd16af04296139c6bf8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/app11052383"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

A Hybrid Search Algorithm for Swarm Robots Searching in an Unknown Environment

Shoutao Li, Lina Li, Gordon Lee, Hao Zhang, Long Wang
<span title="2014-11-11">2014</span> <i title="Public Library of Science (PLoS)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/s3gm7274mfe6fcs7e3jterqlri" style="color: black;">PLoS ONE</a> </i> &nbsp;
This paper proposes a novel method to improve the efficiency of a swarm of robots searching in an unknown environment.  ...  This particle swarm optimization search algorithm is dynamic as all the parameters in the algorithm are refreshed synchronously through a communication mechanism until the robots find the target position  ...  Caiand Yang [14] put forward an improved particle swarm optimization (PSO) based approach whereby a team of mobile robots cooperate in the search for targets in complex unknown environments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1371/journal.pone.0111970">doi:10.1371/journal.pone.0111970</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/25386855">pmid:25386855</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC4227730/">pmcid:PMC4227730</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o4cs3od7ing6jdmvmk7jcu4cqq">fatcat:o4cs3od7ing6jdmvmk7jcu4cqq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171010103735/http://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0111970&amp;type=printable" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fd/df/fddfac5dce4ed0eba8b6d8c8ebb5d077e73cd7cc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1371/journal.pone.0111970"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> plos.org </button> </a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4227730" title="pubmed link"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> pubmed.gov </button> </a>

Multiple Mobile Robot Systems [chapter]

Lynne E. Parker, Daniela Rus, Gaurav S. Sukhatme
<span title="">2016</span> <i title="Springer International Publishing"> Springer Handbook of Robotics </i> &nbsp;
In [53.73], the problem of coverage and exploration of an unknown dynamic environment using a mobile robot is considered.  ...  Scalability is still a challenging problem, in terms of more complex environments as well as ever-larger numbers of robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_53">doi:10.1007/978-3-319-32552-1_53</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/rijl5w2zuvfyhjyx3drntjwvam">fatcat:rijl5w2zuvfyhjyx3drntjwvam</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190228155238/http://pdfs.semanticscholar.org/94b5/de91b42498fcbe0de98ae4eb77fb16f0faaa.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/94/b5/94b5de91b42498fcbe0de98ae4eb77fb16f0faaa.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-32552-1_53"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

A Quadratic Traversal Algorithm of Shortest Weeding Path Planning for Agricultural Mobile Robots in Cornfield

Le Zhang, Rui Li, Zhiqiang Li, Yuyao Meng, Jinxin Liang, Leiyang Fu, Xiu Jin, Shaowen Li, Changsheng Li
<span title="2021-02-19">2021</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7vcyha4c7na5vghxc552e65kyy" style="color: black;">Journal of Robotics</a> </i> &nbsp;
In order to improve the weeding efficiency and protect farm crops, accurate and fast weeds removal guidance to agricultural mobile robots is an utmost important topic.  ...  Transforming the target 2D coordinate point in the pixel coordinate system into the 3D coordinate point in the camera coordinate system as well as using a depth camera can achieve multitarget depth ranging  ...  Acknowledgments is research was funded by the National Natural Science Foundation of China (31271615) and supported by the Ministry of Agriculture and Rural Affairs International Cooperation Project (125A0607  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/6633139">doi:10.1155/2021/6633139</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mcyre4bp2bgidnbake2bkbmeja">fatcat:mcyre4bp2bgidnbake2bkbmeja</a> </span>
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Emergent Intelligence via Self-Organization in a Group of Robotic Devices

Konstantin Amelin, Oleg Granichin, Anna Sergeenko, Zeev V. Volkovich
<span title="2021-06-08">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ye33srllvnanjouxn4tmrfgjsq" style="color: black;">Mathematics</a> </i> &nbsp;
The problem of intelligence in a complex world is considered in connection to multiagent network systems, including a system named airplane with feathers, load balancing, and the multisensor-multitarget  ...  Moreover, the new result concerning the emergency of intelligence in a group of robots is provided.  ...  Revyakina for help in obtaining experimental results.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/math9121314">doi:10.3390/math9121314</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/oyr47vvqjfb55dsvyvwwofq2jm">fatcat:oyr47vvqjfb55dsvyvwwofq2jm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210610142941/https://res.mdpi.com/d_attachment/mathematics/mathematics-09-01314/article_deploy/mathematics-09-01314.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a1/a2/a1a2d7da2ab2785957195d879c1f9d7daf9f8d87.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/math9121314"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Cooperative Loitering Munition Swarm Online Patrolling Route Planning with Nonlinear Seeker Measurement

Haifeng Ling, Hongchuan Luo, Linyuan Bai, Tao Zhu, Qing Wang, Lidong Yu, Xingling Shao
<span title="2020-10-13">2020</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
In this paper, we study the autonomous decision-making and cooperative control strategy of online patrolling for a swarm of loitering munitions using communication to coordinate their route based on maximizing  ...  the information they gathered in the operation region.  ...  Acknowledgments is work was supported by the National Natural Science Foundation of China under grant no.61473263.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/7646920">doi:10.1155/2020/7646920</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jzb6gwsg65hebf6qyzog5rpkqm">fatcat:jzb6gwsg65hebf6qyzog5rpkqm</a> </span>
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Comparison of different configuration space representations for path planning under combinatorial method

Sanjoy Kumar Debnath, Rosli Omar, Nor Badariyah Abdul Latip
<span title="2019-04-01">2019</span> <i title="Institute of Advanced Engineering and Science"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/trvfti3jm5hnxhei7rl7owpcqq" style="color: black;">Indonesian Journal of Electrical Engineering and Computer Science</a> </i> &nbsp;
<span>The use of autonomous vehicle/robot has been adopted widely to replace human beings in performing dangerous missions in adverse environments.  ...  Therefore, C-space denotes the actual free space zone for the movement of robot and guarantees that the vehicle or robot must not collide with the obstacle.  ...  VG performs well in less complex environment and CD is suitable for an amenable environment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11591/ijeecs.v14.i1.pp1-8">doi:10.11591/ijeecs.v14.i1.pp1-8</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/tqait7lhmbfkrl652nykqbf5qa">fatcat:tqait7lhmbfkrl652nykqbf5qa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201104220350/http://ijeecs.iaescore.com/index.php/IJEECS/article/download/18473/12322" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9b/68/9b683be98b88a37db748e15de1ce94bee87247cc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11591/ijeecs.v14.i1.pp1-8"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Unmanned Aerial Vehicles (UAVs): Collision Avoidance Systems and Approaches

Jawad N. Yasin, Sherif A.S. Mohamed, Mohammad-Hashem Haghbayan, Jukka Heikkonen, Hannu Tenhunen, Juha Plosila
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
This also includes a discussion on the use of different types of sensors for collision avoidance in the context of UAVs.  ...  A lot of work is being done to make the CAS as safe and reliable as possible, necessitating a comparative study of the recent work in this important area.  ...  In [112] , the authors propose a new methodology, based on particle swarm optimisation, for path planning of autonomous vehicles in unknown environments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2020.3000064">doi:10.1109/access.2020.3000064</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qfhbs33wznchxdpea4ijozyryy">fatcat:qfhbs33wznchxdpea4ijozyryy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210429124356/https://ieeexplore.ieee.org/ielx7/6287639/8948470/09108245.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/1b/15/1b15ca1d2d13e5968b3a5d9eb61302720d14b833.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2020.3000064"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Multi-robot target detection and tracking: taxonomy and survey

Cyril Robin, Simon Lacroix
<span title="2015-08-28">2015</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/jmjdfeig5rayzgfuauvumileza" style="color: black;">Autonomous Robots</a> </i> &nbsp;
In this article, our objective is to go beyond the frontiers of specific communities and specific problems, and to enlarge the scope of prior surveys.  ...  This variety and the fact that target related robotics problems are pertinent for a large spectrum of applications has motivated a large amount of contributions, which have mostly been surveyed according  ...  Annas and Xiao pursue a target in a unknown 2D environment without any motion model for the target (Annas and Xiao, 2009) .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-015-9491-7">doi:10.1007/s10514-015-9491-7</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yqq75fwdkzdipelxpgtiz3ffba">fatcat:yqq75fwdkzdipelxpgtiz3ffba</a> </span>
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Multi-platform information-based sensor management

Chris M. Kreucher, Keith D. Kastella, Alfred O. Hero
<span title="2005-05-26">2005</span> <i title="SPIE"> Defense Transformation and Network-Centric Systems </i> &nbsp;
We find that this method provides a factor of 5 to 10 improvement in performance when compared to random uncoordinated search.  ...  Measurements received by the sensors are centrally fused using a particle filter to estimate the Joint Multitarget Probability Density (JMPD) for the surveillance volume.  ...  Recursive estimation of the JMPD provides a means for tracking an unknown number of targets in a Bayesian setting.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1117/12.608436">doi:10.1117/12.608436</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ejzlegyud5dbvphbsbplu2x6pq">fatcat:ejzlegyud5dbvphbsbplu2x6pq</a> </span>
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Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Yueyue Deng, Pierre-Philippe J. Beaujean, Edgar An, Edward Carlson
<span title="">2013</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7vcyha4c7na5vghxc552e65kyy" style="color: black;">Journal of Robotics</a> </i> &nbsp;
Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment.  ...  Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and  ...  Additional complexity arises from the challenges of limited navigation and communication capabilities in the underwater environment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2013/483095">doi:10.1155/2013/483095</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/rpgfjlikgzgevar4wybkl6xhxq">fatcat:rpgfjlikgzgevar4wybkl6xhxq</a> </span>
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