Autonomous Coordination and Networking between Multi-Environment Marine Robots at Extended Ranges

这项工作建议开发一个框架，使机器人团队能够执行适应环境的水下调查任务（例如搜索坠落的飞机，地雷或热液喷口），然后将调查结果发送到水面以上的扩展范围。水下机器人使用水面机器人作为中继，以获得水上调查的结果。然后，通过空中无人机将结果进一步中继到船只（或替代地，码头和岸基站）。这些无人机定期从船舶或码头部署，以便人类操作员可以监控，协助，解释或使用信息。这意味着一艘船可以在更远的距离上监视多个机器人团队，并充分利用昂贵的部署船只。空中无人机的挑战是开发搜索算法，根据最后已知的位置为机器人团队探索一个区域。无人机正在响应水面机器人，该机器人正在执行自适应，而不是脚本，使命。根据上面列出的例子，应用于国防、科学或商业任务的海洋环境中。

This work proposes to develop a framework that allows robot teams to perform underwater survey missions (e.g. searches for downed aircraft, mines, or hydrothermal vents) that adapt to the environment and then to send the survey results above-water over extended ranges. The underwater robots use surface robots as relays to get the results of the surveys above-water. Then, the results are further relayed over extended ranges to ships (or alternatively, jetties and shore-based stations) through aerial drones. These drones are periodically deployed from ships or jetties at extended ranges so human operators can monitor, assist, interpret or use the information. This means it is possible for one ship to monitor several robot teams at extended ranges and**make good use of the costly deployed ship. The aerial drone challenges are to develop search algorithms to explore an area for a robot team based on a last known location. The drone is responding to a water surface robot that is performing an adaptive, not scripted, mission. As per the examples listed above, applications are in oceanographic environments for defence, scientific, or commercial missions.****