A high-fidelity Ocean Sampling Mobile Network (SAMON) simulator testbed for evaluating intelligent control of unmanned underwater vehicles

Shashi Phoha, Eileen M. Peluso, R. Lee Culver

Research output: Contribution to journalArticle

12 Scopus citations

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.

Original languageEnglish (US)
Pages (from-to)646-653
Number of pages8
JournalIEEE Journal of Oceanic Engineering
Volume26
Issue number4
DOIs
StatePublished - Oct 1 2001

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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