IMPLEMENTATION OF DECENTRALIZED UNMANNED SURFACE VEHICLE SWARM CONTROL
Loading...
Authors
Rodriguez, Kris M.
Subjects
USV
unmanned surface vehicle
robotic swarm
controls
autonomy
computer vision
CVBT
coordinated vision based tracking
unmanned surface vehicle
robotic swarm
controls
autonomy
computer vision
CVBT
coordinated vision based tracking
Advisors
Kragelund, Sean P.
Date of Issue
2024-06
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Algorithms for swarm control of unmanned surface vessels (USV) normally require a communication network utilizing radio frequency (RF) to determine range and bearing between vehicles to maintain formation. The RF signals, either between USVs or between each USV and a centralized swarm controller, are vulnerable to detection and disruption by enemy actions, thus preventing typical methods of swarm formation control. This research decentralizes an existing control algorithm by simulating USVs with computer vision capable of determining range and bearing to fellow USVs in the swarm. Performance of the decentralized control algorithm will be analyzed to determine the impact of simulated cameras with different fields of view, as well as different desired swarm behaviors.
Type
Thesis
Description
Series/Report No
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
Distribution Statement
Distribution Statement A. Approved for public release: Distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.