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.
CITATION STYLE
Pereira, A., Heidarsson, H., Oberg, C., Caron, D. A., Jones, B., & Sukhatme, G. S. (2010). A communication framework for cost-effective operation of AUVs in coastal regions. Springer Tracts in Advanced Robotics, 62, 433–442. https://doi.org/10.1007/978-3-642-13408-1_39
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