University of Hertfordshire

By the same authors

Standard

Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles. / Catenacci Volpi, Nicola; Smith, Simón C.; Pascoal, António; Simetti, Enrico; Turetta, Alessio; Alibani, Michael; Polani, Daniel.

2018. Paper presented at OCEAN 2018, Charleston, United States.

Research output: Contribution to conferencePaper

Harvard

Catenacci Volpi, N, Smith, SC, Pascoal, A, Simetti, E, Turetta, A, Alibani, M & Polani, D 2018, 'Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles' Paper presented at OCEAN 2018, Charleston, United States, 22/10/18 - 25/10/18, .

APA

Catenacci Volpi, N., Smith, S. C., Pascoal, A., Simetti, E., Turetta, A., Alibani, M., & Polani, D. (2018). Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles. Paper presented at OCEAN 2018, Charleston, United States.

Vancouver

Catenacci Volpi N, Smith SC, Pascoal A, Simetti E, Turetta A, Alibani M et al. Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles. 2018. Paper presented at OCEAN 2018, Charleston, United States.

Author

Catenacci Volpi, Nicola ; Smith, Simón C. ; Pascoal, António ; Simetti, Enrico ; Turetta, Alessio ; Alibani, Michael ; Polani, Daniel. / Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles. Paper presented at OCEAN 2018, Charleston, United States.

Bibtex

@conference{c5c29d9af2d747e6aff6b49503d381bb,
title = "Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles",
abstract = "There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research.WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.",
author = "{Catenacci Volpi}, Nicola and Smith, {Sim{\'o}n C.} and Ant{\'o}nio Pascoal and Enrico Simetti and Alessio Turetta and Michael Alibani and Daniel Polani",
year = "2018",
month = "10",
day = "26",
language = "English",
note = "OCEAN 2018 ; Conference date: 22-10-2018 Through 25-10-2018",
url = "https://charleston18.oceansconference.org/",

}

RIS

TY - CONF

T1 - Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

AU - Catenacci Volpi, Nicola

AU - Smith, Simón C.

AU - Pascoal, António

AU - Simetti, Enrico

AU - Turetta, Alessio

AU - Alibani, Michael

AU - Polani, Daniel

PY - 2018/10/26

Y1 - 2018/10/26

N2 - There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research.WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.

AB - There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research.WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.

M3 - Paper

ER -