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首页> 外文会议>IEEE International Parallel Distributed Processing Symposium >A Load Balancing Behavior for Underwater Robot Swarms to Increase Mission Time and Fault Tolerance
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A Load Balancing Behavior for Underwater Robot Swarms to Increase Mission Time and Fault Tolerance

机译：水下机器人的负载平衡行为会增加任务时间和容错能力

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摘要

The studies of the underwater world such as discovering, analysing and monitoring are still a complex challenge for marine scientists. Autonomous Underwater Vehicles (AUVs) are considered an appropriate solution for these objectives. The usage of AUVs in a swarm formation will increase the number of possible applications in research of the underwater world. Particularly in the field of environmental monitoring a swarm based approach could increase the efficiency of a task by parallelization, inherent redundancy and fault-tolerance. Our approach prolongs the overall mission time by a load-balancing behavior for a swarm of AUVs with consideration of energy and fault-tolerance. In general, the load-balancing behavior divides the swarm into two layers. The first one stays at the surface and saves its energy by limiting it motions and measurements. The other one submerges and performs the monitoring task. After that, an exchange between layers will be performed when one submerged AUV has a low energy level or becomes faulty, e.g. by damaged hardware parts like erroneous pressure sensors. Furthermore, this paper will be supported with a simulation of the proposed behavior.
机译：对水下世界的研究，例如发现，分析和监测，仍然是海洋科学家面临的一项复杂挑战。自主水下航行器（AUV）被认为是实现这些目标的合适解决方案。在群状编队中使用AUV将增加在水下世界研究中可能的应用数量。特别是在环境监测领域，基于群的方法可以通过并行化，固有的冗余和容错来提高任务的效率。我们的方法通过考虑能量和容错性，通过对大量AUV进行负载平衡来延长总体任务时间。通常，负载平衡行为将群集分为两层。第一个停留在地表并通过限制其运动和测量来节省其能量。另一个淹没并执行监视任务。此后，当一个浸没的AUV的能级低或出现故障时，例如，当AUV发生故障时，将在层之间进行交换。损坏的硬件零件，例如错误的压力传感器。此外，本文将通过模拟所提出的行为得到支持。

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