000			01884nam a2200217Ia 4500
003			MX-MdCICY
005			20250625160142.0
040			_cCICY
090			_aB-15975
245	1	0	_aMarine world representation and acoustic communication: challenges for multi-robot collaboration
490	0		_vIEEE/OES autonomous underwater vehicles, p.1-6, 2012
500			_aArtículo
520	3		_aThis paper presents some of the challenges related to multi-robot cooperation for the marine environment. Special attention is given to the world representation topic and to the communication challenges. Ontologies represent the tool to store and dynamically update world information. Due to the conditions of the underwater domain, communication among robots presents several issues. The exchange of information between the local world model of each robot, and those of the other robots needs to properly address specific points, such as limited bandwidth, reliability of the acoustic channel, selection of the information to be shared with other vehicles and information merging with previous knowledge of the world. Three scenarios will be then analysed: the Pandora project, with an emphasis on persistent autonomy, world modeling and failure management through appropriate ontologies; the Trident project, which deals with joint missions with an Autonomous Surface Vessel (ASV) cooperating with an Autonomous Underwater Vehicle (AUV), and the Arrows project, which envisages the use of a fleet of AUVs for underwater archaeology operations.
700	1	2	_aMaurelli, F.
700	1	2	_aSaigol, Z.
700	1	2	_aPetillot, Y.R.
700	1	2	_aLane, D.M.
856	4	0	_uhttps://drive.google.com/file/d/1RKxrJw83w91kdD9Af0sokK_LJKiC8tmN/view?usp=drivesdk _zPara ver el documento ingresa a Google con tu cuenta: @cicy.edu.mx
942			_2Loc _cREF1
008			250602s9999 xx |||||s2 |||| ||und|d
999			_c50151 _d50151