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The International Journal of Robotics Research
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Experiments with Cooperative Control of Underwater Robots

Matthew Dunbabin

CSIRO ICT Centre, Brisbane, Australia, matthew.dunbabin{at}csiro.au

Peter Corke

CSIRO ICT Centre, Brisbane, Australia

Iuliu Vasilescu

Massachusetts Institute of Technology, Cambridge, MA, USA

Daniela Rus

Massachusetts Institute of Technology, Cambridge, MA, USA

In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information such as data download and retasking; cooperative localization and tracking; and physical connection (docking) for tasks such as deployment of underwater sensor networks, collection of nodes and rescue of damaged robots. We present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules. We present the hardware and software architecture of this underwater system. We then describe various interactions between the robots and sensor nodes and between the two robots, including cooperative navigation. Finally, we describe our experiments with this underwater system and present data.

Key Words: autonomous underwater vehicles • cooperative control • underwater vehicle control • vision-based navigation • underwater sensor networks • underwater communications

The International Journal of Robotics Research, Vol. 28, No. 6, 815-833 (2009)
DOI: 10.1177/0278364908098456
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