F. Shkurti, Anqi Xu, Malika Meghjani, J. A. G. Higuera, Yogesh A. Girdhar, P. Giguère, Bir Bikram Dey, J. Li, A. Kalmbach, C. Prahacs, Katrine Turgeon, Ioannis M. Rekleitis, G. Dudek
{"title":"Multi-domain monitoring of marine environments using a heterogeneous robot team","authors":"F. Shkurti, Anqi Xu, Malika Meghjani, J. A. G. Higuera, Yogesh A. Girdhar, P. Giguère, Bir Bikram Dey, J. Li, A. Kalmbach, C. Prahacs, Katrine Turgeon, Ioannis M. Rekleitis, G. Dudek","doi":"10.1109/IROS.2012.6385685","DOIUrl":null,"url":null,"abstract":"In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect visual footage of interesting underwater regions, from multiple scales and mediums. We discuss organizational and scheduling complexities associated with multi-robot experiments in a field robotics setting. We also present results from our field trials, where we demonstrated the use of this heterogeneous robot team to achieve multi-domain monitoring of coral reefs, based on real-time interaction with a remotely-located marine biologist.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"3 1","pages":"1747-1753"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"121","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2012.6385685","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 121
Abstract
In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect visual footage of interesting underwater regions, from multiple scales and mediums. We discuss organizational and scheduling complexities associated with multi-robot experiments in a field robotics setting. We also present results from our field trials, where we demonstrated the use of this heterogeneous robot team to achieve multi-domain monitoring of coral reefs, based on real-time interaction with a remotely-located marine biologist.