Automation Middleware and Algorithms for Robotic Underwater Sensor Networks

摘要

The long term goals of the project are: (1) To establish systems and algorithms for controlled Lagrangian particle tracking that will be used to improve the accuracy of model based prediction of trajectories of controlled underwater vehicles subjected to ocean current. (2) To achieve a mission planning system for robotic underwater sensor networks that are able to perform automatic or semiautomatic adaptation to extreme ocean conditions and platform failure, deployment, and recovery. OBJECTIVES We develop a set of automation middleware that implement a set of novel algorithms for robotic underwater sensor networks serving applications of ocean sampling and ocean model improvement. We design novel model adjustment, cooperative control, and distributed sensing algorithms that will be implemented through the automation middleware.