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Cooperation between underwater vehicles
Redfield, S. (2012). Cooperation between underwater vehicles, in: Seto, M.L. (2013). Marine robot autonomy. pp. 257-286. https://dx.doi.org/10.1007/978-1-4614-5659-9_6
In: Seto, M.L. (2013). Marine robot autonomy. Springer Science+Business Media, Inc: New York. ISBN 978-1-4614-5658-2. 382 pp. https://dx.doi.org/10.1007/978-1-4614-5659-9, more
Keyword
    Marine/Coastal
Author keywords
    Task Allocation, Underwater Vehicle, Single Vehicle, Acoustic Channel, Multiple Vehicle
Author  Top 
  • Redfield, S.
Abstract
    The underwater environment intensifies difficulties inherent in cooperation between autonomous vehicles by dramatically reducing their ability to communicate with each other. Lack of communication drives the need for decentralized control which in turn requires a shared view of the tasks and their status as the mission progresses. Decision-making, especially task allocation, requires low-bandwidth mechanisms for negotiation and achieving consensus. Strategies to obtain this low-bandwidth decision-making and control rely on both the availability of significant a priori information about the mission and tasks and careful design of the system.
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