Abstract
Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography. Most high-endurance and long-range AUVs rely on satellite phones as their primary communications interface duringmissions for data/command telemetry due to its global coverage. Satellite phone (e.g., Iridium) expenses can make up a significant portion of an AUV’s operating budget during long missions. Slocum gliders are a type of AUV that provide unprecedented longevity in scientific missions for data collection. Here we describe a minimally-intrusive modification to the existing hardware and an accompanying software system that provides an alternative robust disruption-tolerant communications framework enabling cost-effective glider operation in coastal regions. Our framework is specifically designed to addressmultiple- AUV operations in a region covered by multiple networked base-stations equipped with radio modems. We provide a system overview and preliminary evaluation results from three field deployments using a glider.We believe that this framework can be extended to reduce operational costs for other AUVs during coastal operations.
Original language | English (US) |
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Pages (from-to) | 433-442 |
Number of pages | 10 |
Journal | Springer Tracts in Advanced Robotics |
Volume | 62 |
DOIs | |
State | Published - 2010 |
Externally published | Yes |
Bibliographical note
Publisher Copyright:© Springer-Verlag Berlin Heidelberg 2010.
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Artificial Intelligence