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Multi-UUV perimeter surveillance

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Abstract:

We develop two algorithms for the surveillance of underwater perimeters by a group of unmanned vehicles, and compare their performance.

Metadata

Abstract:

We develop two algorithms for the surveillance of underwater perimeters by a group of unmanned vehicles, and compare their performance.

Published in: 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)

Date of Conference: 17-18 June 2004

Date Added to IEEE Xplore: 23 May 2005

Print ISBN:0-7803-8543-8

DOI: 10.1109/AUV.2004.1431200

Conference Location: Sebasco, ME, USA

References is not available for this document.

I. Introduction

We consider the general problem of finding and patrolling an underwater perimeter with UUVs that use a scalar sensor. We defme a perimeter as a curve of constant concentration, i.e. a curve that satisfies where is a two-dimensional scalar field, is the curve parameter, and is the perimeter concentration. Starting from an initial configuration, a team of UUVs must find the perimeter and maintain a lock on it This problem is of practical importance for thin layer monitoring [1], harmful algae bloom monitoring [2], tactical oceanography [3]–[6], harbor protection [7], and possibly many other problems.

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