A high-fidelity ocean sampling mobile network (SAMON) simulatortestbed for evaluating intelligent control of unmanned underwatervehicles |
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| Authors: | Phoha S Peluso EM Culver RL |
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| Institution: | Appl. Res. Lab., Pennsylvania State Univ., University Park, PA; |
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| Abstract: | The Ocean Sampling Mobile Network (SAMON) simulator testbed has been developed at Penn State for designing and evaluating multirobot ocean-mapping missions, in realistic underwater environments, prior to in-water testing. The goal in developing the testbed is to enable web-based integration of high-fidelity simulators of heterogeneous autonomous undersea vehicles from multiple organizations and a variety of on-board and fixed sensors in a realistic ocean environment in order to formulate and evaluate intelligent control strategies for mission execution. A formal control language facilitates real-time interactions between heterogeneous autonomous components. A simulation experiment is described that demonstrates multistage inferencing and decision/control strategies for spatio-temporal coordination and multilayered adaptation of group behavior in response to evolving environmental physics or operational dynamics |
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