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Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks ?

机译：使用混合声学 - 光通信网络的协作运动控制 ？

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There is currently widespread interest in the development of groups of autonomous underwater vehicles for ocean exploration. This calls for the deployment of robots that can act in cooperation by exchanging data over communication networks. For this purpose, acoustic networks have been so far the choice par excellence. However, for operations involving vehicles operating at close range, there is currently a flurry of activity on the use of optical-based communication systems, capable of higher transmission rates. As a result, the goal of this work is to make optical communications viable and to use both communication technologies during underwater cooperative missions. Motivated by this goal, the first part of this work is dedicated to design a coordination controller with an event-based communication strategy for the coordination of the vehicles over the acoustic network. The second part of this work proposes an algorithm to make optical communications viable, which ultimately boils down to achieving optical beam alignment between a pair of cooperative agents. The proposed algorithm is illustrated by simulation results that show optical beam alignment being reached for a pair of vehicles in a cooperative formation.
机译：目前普遍兴趣发展海洋勘探的自主水下车组。这需要部署机器人，可以通过在通信网络上交换数据进行协调。为此目的，到目前为止，声学网络是卓越的选择。然而，对于涉及在近距离运行的车辆的操作，目前关于使用光学通信系统的活动，能够更高的传输速率。结果，这项工作的目标是使光学通信可行，并在水下合作任务期间使用这两种通信技术。这一目标的动机是，这项工作的第一部分致力于设计一个具有基于事件的交流控制器，用于在声学网络上协调车辆的协调。该工作的第二部分提出了一种使光学通信可行的算法，这最终归结为在一对协作代理之间实现光束对准。所提出的算法通过模拟结果说明，该结果示出了在合作形成中达到一对车辆的光束对准。

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