University of Southern California
We describe two 'networked robot' problems in the underwater domain, both subject to the constraints of underwater acoustic communication. In the first, multiple robots are required to search for a target subject. We cast this as a distributed planning problem and give an algorithm for distributed coordination with limited communication. In the second, we describe and solve a problem where a single robot plans an optimal path based on data from multiple static underwater sensors. We conclude with a discussion of experimental results from a recent large-scale field study to illustrate the gap between algorithmic investigations and currently deployable systems. (joint work with Geoff Hollinger, Urbashi Mitra, Jnaneshwar Das, and Kanna Rajan).
Gaurav S. Sukhatme is a Professor of Computer Science (joint appointment in Electrical Engineering) at the University of Southern California (USC). He received his undergraduate education at IIT Bombay in Computer Science and Engineering, and M.S. and Ph.D. degrees in Computer Science from USC. He is the director of the USC Robotic Embedded Systems Laboratory, which he founded in 2000. His research interests are in multi-robot systems, robot networks and applications to underwater systems. He has published extensively in these and related areas. He is a fellow of the IEEE and a recipient of the NSF CAREER award and the Okawa foundation research award. He serves as the Editor-in-Chief of Autonomous Robots.