This paper introduces an approach for decomposing exploration tasks among multiple unmanned surface vehicles (USVs) in congested regions. In order to ensure effective distribution of the workload, the algorithm has to consider the effects of the environmental constraints on the USVs. The performance of a USV is influenced by the surface currents, risk of collision with the civilian traffic, and varying depths due to tides and weather. The team of USVs needs to explore a certain region of the harbor and we need to develop an algorithm to decompose the region of interest into multiple subregions. The algorithm overlays a two-dimensional grid upon a given map to convert it to an occupancy grid, and then proceeds to partition the region of interest among the multiple USVs assigned to explore the region. During partitioning, the rate at which each USV is able to travel varies with the applicable speed limits at the location. The objective is to minimize the time taken for the last USV to finish exploring the assigned area. We use the particle swarm optimization (PSO) method to compute the optimal region partitions. The method is verified by running simulations in different test environments. We also analyze the performance of the developed method in environments where speed restrictions are not known in advance.
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April 2018
Design Innovation Paper
Decomposition of Collaborative Surveillance Tasks for Execution in Marine Environments by a Team of Unmanned Surface Vehicles
Shaurya Shriyam,
Shaurya Shriyam
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
University of Southern California,
Los Angeles, CA 90089
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Brual C. Shah,
Brual C. Shah
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
University of Southern California,
Los Angeles, CA 90089
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Satyandra K. Gupta
Satyandra K. Gupta
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
e-mail: guptask@usc.edu
University of Southern California,
Los Angeles, CA 90089
e-mail: guptask@usc.edu
Search for other works by this author on:
Shaurya Shriyam
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
University of Southern California,
Los Angeles, CA 90089
Brual C. Shah
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
University of Southern California,
Los Angeles, CA 90089
Satyandra K. Gupta
Department of Aerospace & Mechanical Engineering,
University of Southern California,
Los Angeles, CA 90089
e-mail: guptask@usc.edu
University of Southern California,
Los Angeles, CA 90089
e-mail: guptask@usc.edu
1Corresponding author.
Manuscript received September 26, 2017; final manuscript received December 14, 2017; published online February 12, 2018. Assoc. Editor: Venkat Krovi.
J. Mechanisms Robotics. Apr 2018, 10(2): 025007 (7 pages)
Published Online: February 12, 2018
Article history
Received:
September 26, 2017
Revised:
December 14, 2017
Citation
Shriyam, S., Shah, B. C., and Gupta, S. K. (February 12, 2018). "Decomposition of Collaborative Surveillance Tasks for Execution in Marine Environments by a Team of Unmanned Surface Vehicles." ASME. J. Mechanisms Robotics. April 2018; 10(2): 025007. https://doi.org/10.1115/1.4038974
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