RI: Small: RUI: Multi-Robot Systems for Tracking, Monitoring, and Modeling of Periodic Migratory Populations

在整个自然界都可以发现周期性的迁移模式。在人类、陆生和水生动物、昆虫甚至细菌中都观察到了周期性运动的例子。了解这些模式可以为研究人员提供重要的信息，以做出影响环境，健康，财务和安全的决策。开发更好的工具来精确测量周期性运动对于开发更复杂的运动模型至关重要。该项目的重点是开发一个移动的，多机器人传感系统，能够监测个人和群体，共享共同的行为，导致周期性的运动模式。该项目使用多个自主水下航行器（AUV）来监测，跟踪和模拟沿海栖息地的鱼类种群。该项目的具体目标是：（1）开发种群周期性迁徙运动的数学模型，（2）根据这些模型开发实时估计个体和种群状态的战略，（3）构建跟踪种群的多机器人控制战略，以及（4）使用AUV对鱼类种群进行连续监测。为了实现这些目标，部署了一个多AUV系统来自主跟踪和跟踪Big Fisherman？中的声学标记鱼类种群。位于卡塔利纳岛的S湾。该试验场是一个海洋保护区，有大量的几种鱼类，它们遵循周期性的洄游模式。预计实验结果将验证该系统，并生成对海洋生物学家和政策制定者有用的模型。

Periodic migration patterns can be found throughout the natural world. Examples of periodic movements have been observed in humans, terrestrial and aquatic animals, insects, even bacteria. Understanding such patterns can provide researchers with essential information to making decisions that affect environment, health, finances, and safety. Developing better tools for accurately measuring periodic movements is essential for developing more sophisticated movement models. This project focuses on the development of a mobile, multi-robot sensing system capable of monitoring individuals and populations that share common behaviors resulting in periodic movement patterns. The project uses multiple Autonomous Underwater Vehicles (AUVs) for monitoring, tracking, and modeling fish populations in their coastal habitat. The specific goals of the project are to (1) develop mathematical models of a population's periodic migratory motion, (2) develop strategies based on these models for real-time estimation of the state of individual's and the population, (3) construct multi-robot control strategies for tracking populations, and (4) conduct continuous monitoring of fish populations using AUVs. To accomplish these goals, a multi-AUV system is deployed to autonomously track and follow acoustic tagged fish populations in Big Fisherman?s Cove in Catalina Island. This test site is a Marine Protected Area abundant with several species of fish that follow periodic migration patterns. Results from experiments are expected to validate the system and generate models that are useful to marine biologists and policy makers.