Autonomous Aquatic Agents

A. Calce, P. Mojiri Forooshani, A. Speers, K. Watters, T. Young, M. Jenkin

Abstract

Constructing a collection of autonomous agents requires the development of appropriate experimental hardware platforms. Here we describe the process of re-purposing inexpensive radio-controlled (RC) electric motorboat as autonomous surface craft. Standard electronics components are used to interface with the RC boat electronics, and the vessels are augmented with GPS, vision, and a tilt-compensated compass to provide the necessary onboard sensing capabilities to enable point-to-point and target-based control of the vehicle. A ROS-based control and sensing infrastructure is used to operate the vehicles on-board while 802.11n communication provides communication off-board. Vessels have been operated successfully in both the pool and ocean environment.

References

  1. Bertram, V. (2008). Unmanned surface vehicles - a survey. Technical report, Skibsteknisk Selskab, Copenhagen, Denmark.
  2. Caccia, M. (2006). Autonomous surface craft: prototypes and basic research issues. In Control and Automation, pages 1-6.
  3. Dudek, G., Giguere, P., Prahacs, C., Saunderson, S., Sattar, J., Torres-Mendez, L.-A., Jenkin, M., German, A., Hogue, A., Ripsman, A., Zacher, J., Milios, E., Liu, H., and Zhang, P. (2007). AQUA: An amphibious autonomous robot. IEEE Comptuer, pages 48-53.
  4. Manley, J. E. (2008). Unmanned surface vehicles, 15 years of development. In Oceans, pages 1-4.
  5. Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., and Ng, A. Y. (2009). ROS: an open-source robot operating system. In Proc. of the Open-Source Software Workshop at the International Conference on Robotics and Automation (ICRA).
  6. Watters, K., Minwalla, C., Liscombe, M., Lio, H., Thomas, P., Hornsey, R. I., Ellis, K., and Jennings, S. (2011). Characterization of an optical collision avoidance sensor. In IEEE CCECE.
Download


Paper Citation


in Harvard Style

Calce A., Mojiri Forooshani P., Speers A., Watters K., Young T. and Jenkin M. (2013). Autonomous Aquatic Agents . In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8565-38-9, pages 372-375. DOI: 10.5220/0004220003720375


in Bibtex Style

@conference{icaart13,
author={A. Calce and P. Mojiri Forooshani and A. Speers and K. Watters and T. Young and M. Jenkin},
title={Autonomous Aquatic Agents},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2013},
pages={372-375},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004220003720375},
isbn={978-989-8565-38-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Autonomous Aquatic Agents
SN - 978-989-8565-38-9
AU - Calce A.
AU - Mojiri Forooshani P.
AU - Speers A.
AU - Watters K.
AU - Young T.
AU - Jenkin M.
PY - 2013
SP - 372
EP - 375
DO - 10.5220/0004220003720375