Abstract
This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.
Highlights
As the importance of studying the impact of climate change and anthropogenic influences on both a global and local scale grows, novel technologies find new application niches
The results of the proof-of-concept field experiments conducted with the swarm in order to test the viability of the proposed paradigm are presented and discussed
This section contains a detailed overview of results achieved during the proof-of-concept experiment conducted for validation purposes in an outdoor pool in Biograd na Moru, including a mission replay reconstructed from data logged on all the vehicles during the duration of the experiment
Summary
As the importance of studying the impact of climate change and anthropogenic influences on both a global and local scale grows, novel technologies find new application niches. The ecosystem of the Lagoon of Venice, Italy is critical in a scientific, cultural, and socio-economic context. It stands out as an area with pronounced interplay between global climate change-related effects and a variety of unique site-specific phenomena [1,2]. Hypoxic and anoxic events in the form of rapid localised (usually overnight) drops in the concentration of oxygen in the water These hypoxic and anoxic events are becoming more frequent and more spatially widespread, and have been tied to fish mortality and biomass reduction and shifts, making them a significant object of study [3,4,5,6].
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