MANgO: Federated world Model using an underwater Acoustic NetwOrk

Gordon Frost, David M. Lane, Nikolaos Tsiogkas, Daniele Spaccini, Chiara Petrioli, Maarja Kruusmaa, Victoria Preston, Taavi Salumae
2017 OCEANS 2017 - Aberdeen  
The usage of Autonomous Underwater Vehicles (AUVs) in scientific and industrial applications has increased in the last decade. In many applications the usage of fleet of heterogeneous assets is a key requirement. Their coordination and cooperation require high performance in terms of communication and information sharing. MANgO presents a federated world model operating over an underwater acoustic network through the networking capabilities provided by the SUNSET Software Defined Communication
more » ... ined Communication Stack (SDCS). It provides a method to transparently synchronise the local World Model (WM) of a vehicle with the rest of the heterogeneous team. The performance of the proposed architecture is demonstrated and compared with previous approaches using simulation and hardware-in-the-loop tests. Results show an improvement in the performance of at least 30% as well as the ease of integration with a variety of heterogeneous platforms.
doi:10.1109/oceanse.2017.8084812 fatcat:c6fqagef4fhrjbirgewwj3jogq