Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network

Abstract— This paper describes an investigation into the control of autonomous mobile sensor platforms in a marine sensor network used to provide monitoring of transitory phenomenon over a wide area. A distributed network of small, inexpensive vehicles with heterogeneous sensors allows us to build a robust monitoring network capable of real-time response to rapidly changing sensor data. The major objective of this paper is to describe a framework for adaptive and cooperative control of the autonomous sensor platforms in such a network. This framework has two major components, a sensor that provides highlevel state information to a behavior-based autonomous vehicle control system and a new approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive control in complex environments with multiple constraints. Experimental results are presented for a 2-D target tracking application using a network of autonomous surface craft in which o...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Donald P. Eickstedt, Michael R. Benjamin, Henrik Schmidt, John J. Leonard
• Keywords: Autonomous, IROS 2006, Robotics, Sensor, Sensor Platforms