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Article

Cooperative Control of Vehicle Swarms for Acoustic Target Localization by Energy Flows

[+] Author and Article Information
J. L. Dohner, G. R. Eisler

Sandia National Laboratories, P.O. Box 5800, MS1080, Albuquerque, NM 87185-1080

B. J. Driessen

Mechanical and Aerospace Engineering Department, 301 Sparkman Drive, University of Alabama in Huntsville, Huntsville, AL 35899

J. Hurtado

Texas A&M University, 3141 TAMU, College Station, TX 77843-3141

J. Dyn. Sys., Meas., Control 126(4), 891-895 (Mar 11, 2005) (5 pages) doi:10.1115/1.1852463 History: Received June 09, 2003; Revised December 03, 2003; Online March 11, 2005
Copyright © 2004 by ASME
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References

Jorg,  K., and Berg,  M., 1998, “Sophisticated Mobile Robot Sonar Sensing With Pseudo Random Codes,” Rob. Auton. Syst., 25, pp. 241–251.
Kleeman, L., and Kuc, R., 1998, “An Optimal Sonar Array for Target Localization and Classification,” IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3130–3135.
Curtin,  T., Bellingham,  J. G., Catipovic,  J., and Webb,  D., 1993, “Autonomous Oceanographic Sampling Networks,” Oceanography,6(3), pp. 86–94.
Compton, M. A., 1992, Minefield Search and Object Recognition of Autonomous Underwater Vehicles, Master thesis, Naval Postgraduate School, Monterey, CA.
Temkin, S., 1981, Elements of Acoustics, Wiley, New York.
Junger, M., and Feit, D., 1986, Sound, Structures, and Their Interaction, Second Edition, MIT Press, Cambridge, MA [see p. 320 and take the magnitude of (10.21) to obtain equation 9].
Klarer, P. K., 1993, “Recent Developments in the Robotic All Terrain Lunar Exploration Rover (RATLER) Program,” SAND93-1760C, August, Sandia National Laboratories.

Figures

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Swarm targeting geometry
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Measurement data fitting logistics
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Location of vehicles (simulated)
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(a) Illustration of test equipment. (b) Emitter. (c) Swarm of microphones representing vehicles.
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Typical signal receive at vehicle (experimental data)
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Location of vehicles (experimental data)
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(a) Arrangement with a passive reflector. (b) Location of vehicles (simulation data and experimental data).

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