Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform

Abhinav Valada, Prasanna Velagapudi, Balajee Kannan, Christopher Tomaszewski, George A. Kantor, and Paul Scerri
The 8th International Conference on Field and Service Robotics (FSR 2012), July, 2012.


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Abstract
In this paper, we outline a low cost multi-robot autonomous platform for a broad set of applications including water quality monitoring, flood disaster miti-gation and depth buoy verification. By working cooperatively, fleets of vessels can cover large areas that would otherwise be impractical, time consuming and pro-hibitively expensive to traverse by a single vessel. We describe the hardware design, control infrastructure, and software architecture of the system, while additionally presenting experimental results from several field trials. Further, we discuss our ini-tial efforts towards developing our system for water quality monitoring, in which a team of watercraft equipped with specialized sensors autonomously samples the physical quantity being measured and provides online situational awareness to the operator regarding water quality in the observed area. From canals in New York to volcanic lakes in the Philippines, our vessels have been tested in diverse marine en-vironments and the results obtained from initial experiments in these domains are also discussed.

Keywords
Adaptive Sampling, Autonomous Surface Vehicle, Intelligent Mapping, Autonomous Sampling, Multi-robot Systems

Notes
Associated Project(s): Cooperative Robotic Watercraft

Text Reference
Abhinav Valada, Prasanna Velagapudi, Balajee Kannan, Christopher Tomaszewski, George A. Kantor, and Paul Scerri, "Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform," The 8th International Conference on Field and Service Robotics (FSR 2012), July, 2012.

BibTeX Reference
@inproceedings{Valada_2012_7069,
   author = "Abhinav Valada and Prasanna Velagapudi and Balajee Kannan and Christopher Tomaszewski and George A Kantor and Paul Scerri",
   title = "Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform",
   booktitle = "The 8th International Conference on Field and Service Robotics (FSR 2012)",
   month = "July",
   year = "2012",
}