Autonomous underwater vehicles (AUVs) are advancing the state of the art in numerous scientific and commercial applications. The current surge in micro electronics enables the development of small micro AUVs ( $$\mu $$ μ AUVs) which are expected to gain increasing popularity in industrial applications such as monitoring of liquid-based processes. This paper presents an information theoretic approach for exploration and monitoring of liquid containing tanks with $$\mu $$ μ AUVs. The controller is based on ideas from path integral control and inference with Gaussian Markov random fields (GMRFs). Both parts are combined in a receding horizon scheme to the PI-GMRF controller. The control problem is formulated within the stochastic optimal control domain and a solution is stated as a path integral. In order to close the control theoretic loop each $$\mu $$ μ AUV maintains a belief representation of the environment expressed with GMRFs which allows reasoning by computing posterior distributions conditioned on measurements. Each $$\mu $$ μ AUV has its own controller instance and the system is decentral. Only the exchange of measurements and intended control inputs of each $$\mu $$ μ AUV is required through the communication link. The approach is validated in simulations for an advection–diffusion scenario and benchmarked against random walk, which it outperforms.
Autonomous Robots – Springer Journals
Published: Dec 1, 2017
It’s your single place to instantly
discover and read the research
that matters to you.
Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.
All for just $49/month
Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly
Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.
Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.
Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.
All the latest content is available, no embargo periods.
“Hi guys, I cannot tell you how much I love this resource. Incredible. I really believe you've hit the nail on the head with this site in regards to solving the research-purchase issue.”Daniel C.
“Whoa! It’s like Spotify but for academic articles.”@Phil_Robichaud
“I must say, @deepdyve is a fabulous solution to the independent researcher's problem of #access to #information.”@deepthiw
“My last article couldn't be possible without the platform @deepdyve that makes journal papers cheaper.”@JoseServera