Multi-Domain Monitoring of Marine Environments using a Heterogeneous Robot Team

F. Shkurti, A. Xu, M. Meghjani, J. C. Gamboa Higuera, y. Girdhar, P. Giguere, B. B. Dey, J. Li, A. Kalmbach, C. Prahacs, K. Turgeon, I. Rekleitis, G. Dudek
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012. [36 citations]

Abstract

Abstract: In this paper we describe a heterogeneous multirobot 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 realtime interaction with a remotely-located marine biologist.

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BibTeX

@inproceedings{ShkurtiIROS2012,
  author       = {F. Shkurti and A. Xu and M. Meghjani and J. C. Gamboa
		 Higuera and y. Girdhar and P. Giguere and B. B. Dey and J.
		 Li and A. Kalmbach and C. Prahacs and K. Turgeon and I.
		 Rekleitis and G. Dudek},
  title        = {Multi-Domain Monitoring of Marine Environments using a
		 Heterogeneous Robot Team},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots
		 and Systems (IROS)},
  pages        = {1447--1753},
  year	       = {2012},
  address      = {Portugal},
  month        = {Oct.}
}

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