Name
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385685 | Intelligent Robots and Systems |
Keywords | Field | DocType |
aircraft,ecology,environmental monitoring (geophysics),inspection,legged locomotion,marine control,multi-robot systems,agile legged underwater robot,autonomous airboat,coral reefs,environmental monitoring tasks,fixed-wing aerial vehicle,heterogeneous multirobot system,heterogeneous robot team,inspection,marine ecosystems,marine environments,multidomain monitoring,real-time interaction,remotely-located marine biologist,scientist assistance | Computer science,Scheduling (computing),Control engineering,Human–computer interaction,Artificial intelligence,Global Positioning System,Robotics,Simulation,Robot kinematics,Agile software development,Robot,Environmental monitoring,Underwater | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 14 |
PageRank | References | Authors |
0.92 | 5 | 14 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Florian Shkurti | 1 | 39 | 7.86 |
| Anqi Xu | 2 | 106 | 9.33 |
| Malika Meghjani | 3 | 35 | 5.66 |
| Juan Camilo Gamboa Higuera | 4 | 37 | 5.71 |
| Yogesh Girdhar | 5 | 64 | 10.31 |
| Philippe Giguère | 6 | 145 | 21.51 |
| Bir Bikram Dey | 7 | 17 | 1.35 |
| Jimmy Li | 8 | 32 | 4.27 |
| Arnold Kalmbach | 9 | 23 | 3.39 |
| Chris Prahacs | 10 | 68 | 6.26 |
| Katrine Turgeon | 11 | 20 | 1.44 |
| Ioannis M. Rekleitis | 12 | 372 | 39.21 |
| Gregory Dudek | 13 | 2163 | 255.48 |
| Gamboa Higuera, J.C. | 14 | 14 | 0.92 |