Towards Reducing the Impact of Localisation Errors on the Behaviour of a Swarm of Autonomous Underwater Vehicles

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dc.contributor.authorEl-Mihoub, Tarek
dc.contributor.authorTholen, Christoph
dc.contributor.authorNolle, Lars
dc.coverage.issue2cs
dc.coverage.volume26cs
dc.date.accessioned2021-08-10T11:28:31Z
dc.date.available2021-08-10T11:28:31Z
dc.date.issued2020-12-21cs
dc.description.abstractLocalisation errors have a great impact on Autonomous Underwater Vehicles (AUVs) as search agents. Different approaches for solving the localisation problem can be used and combined together for greater accuracy in estimating AUVs’ locations. The effect of localisation errors on locating a target can be lightened by designing a search algorithm that avoids extensive use of exact lo-cation information. In this paper, two cooperative search algorithms are proposed and evaluated. In these algorithms, a high-level mechanism is employed for building a global view of the search space using minimum possible search information. These algorithms rely on low-level search algorithms with exploring roles. Particle Swarm Optimisation (PSO) and all-to-one Self-Organising Migrating Algorithm (SOMA) are selected as high-level mechanisms. The conducted experiments demonstrate that both algorithms show a robust behaviour within a range of localisation errors.en
dc.formattextcs
dc.format.extent1-8cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationMendel. 2020 vol. 26, č. 2, s. 1-8. ISSN 1803-3814cs
dc.identifier.doi10.13164/mendel.2020.2.001en
dc.identifier.issn2571-3701
dc.identifier.issn1803-3814
dc.identifier.urihttp://hdl.handle.net/11012/200926
dc.language.isoencs
dc.publisherInstitute of Automation and Computer Science, Brno University of Technologycs
dc.relation.ispartofMendelcs
dc.relation.urihttps://mendel-journal.org/index.php/mendel/article/view/115cs
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International licenseen
dc.rights.accessopenAccessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0en
dc.subjectLocalisation errorsen
dc.subjectsubmarine groundwater dischargeen
dc.subjectsearch algorithmsen
dc.subjectparticle swarm optimisationen
dc.subjectself-organising migrating algorithmen
dc.titleTowards Reducing the Impact of Localisation Errors on the Behaviour of a Swarm of Autonomous Underwater Vehiclesen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.facultyFakulta strojního inženýrstvícs
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Vol. 26, No. 2