Line formation algorithm in a swarm of reactive robots constrained by underwater environment

Thomas Sousselier 1, 2 Johann Dréo 3 Marc Sevaux 1
1 Lab-STICC_UBS_CACS_MOCS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : Underwater area exploration has always been a very important mission raised initially by military applications (e.g. mine detection) but more and more often by civil applications. To successfully conduct this exploration on large scale area, autonomous vehicle are envisaged in a near future. Existing approaches rely on a single large drone that covers mission area with a lawnmower trajectory, but a swarm of small robots may be more efficient, using a comb of paths. Unfortunately, existing swarm approaches are not well suited for an underwater environment, where communication and positioning are not efficient. This led us to propose a new algorithm that can arrange a swarm of robots in a line shape. The algorithm does not require a good communication channel and the line formation emerge from local behavior depending on an imprecise global positioning and a precise local positioning. We perform realistic simulations to test and characterize our line formation algorithm. Our work shows that the line formation algorithm is robust to perturbations and permits to envisage swarm approaches for underwater exploration as a low-cost alternative to single-drones systems.
Type de document :
Article dans une revue
Expert Systems with Applications, Elsevier, 2015, 42, pp.5117-5127. 〈10.1016/j.eswa.2015.02.040〉
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https://hal.archives-ouvertes.fr/hal-01120038
Contributeur : Marc Sevaux <>
Soumis le : mardi 24 février 2015 - 16:18:29
Dernière modification le : jeudi 11 janvier 2018 - 06:26:38

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Thomas Sousselier, Johann Dréo, Marc Sevaux. Line formation algorithm in a swarm of reactive robots constrained by underwater environment. Expert Systems with Applications, Elsevier, 2015, 42, pp.5117-5127. 〈10.1016/j.eswa.2015.02.040〉. 〈hal-01120038〉

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