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Task allocation for networked autonomous underwater vehicles
Descriptive
TypeOfResource
Text
TitleInfo
(ID = T-1)
Title
Task allocation for networked autonomous underwater vehicles
Identifier
ETD_2505
Identifier
(type = hdl)
http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.000053101
Language
LanguageTerm
(authority = ISO639-2);
(type = code)
eng
Genre
(authority = marcgt)
theses
Subject
(ID = SBJ-1);
(authority = RUETD)
Topic
Electrical and Computer Engineering
Subject
(ID = SBJ-2);
(authority = ETD-LCSH)
Topic
Underwater acoustic telemetry
Subject
(ID = SBJ-3);
(authority = ETD-LCSH)
Topic
Submersibles
Abstract
(type = abstract)
Underwater Acoustic Sensor Networks (UW-ASNs) consist of stationary or mobile nodes such as Autonomous Underwater Vehicles (AUVs), which may be classified as propeller-driven vehicles and gliders, that are equipped with a variety of sensors for performing collaborative monitoring tasks. UW-ASNs are envisioned for missions like oceanographic data collection, ocean sampling, offshore exploration, disaster prevention, tsunami and seaquake warning, assisted navigation, distributed tactical surveillance, and mine reconnaissance. A task allocation and optimization framework for networked AUVs that participate as a team to accomplish such missions is developed in this work. These missions entrusted to the AUVs are sometimes critical to human life and property, are bound by severe time and energy constraints, and involve a high degree of inter-vehicular communication. The objective of the framework is to form the best possible team, which is a subset of all deployed AUVs that is best suited to accomplish the mission, while adhering to the constraints. Successful completion of the mission is dependent on effective communication between the networked AUVs and to achieve this a geocasting based networking framework is also proposed. Research specific to this area has been limited. Hence, a framework based on energy minimization for the team of AUVs to complete the mission in given time bound is proposed. Further, the effect of size of geocast region, effect of underwater current on the choice of geocast region and on localized nature of the problem, and the performance of Propeller Driven Vehicles (PDVs) and gliders is compared.
PhysicalDescription
Form
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electronic resource
Extent
ix, 61 p. : ill.
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application/pdf
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text/xml
Note
(type = degree)
M.S.
Note
Includes abstract
Note
(type = bibliography)
Includes bibliographical references
Note
(type = statement of responsibility)
by Indraneel S. Kulkarni
Name
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NamePart
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Kulkarni
NamePart
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Indraneel S.
NamePart
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1984-
Role
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author
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Indraneel Kulkarni
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NamePart
(type = family)
Pompili
NamePart
(type = given)
Dario
Role
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(authority = RULIB)
chair
Affiliation
Advisory Committee
DisplayForm
Dario Pompili
Name
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NamePart
Rutgers University
Role
RoleTerm
(authority = RULIB)
degree grantor
Name
(ID = NAME-2);
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NamePart
Graduate School - New Brunswick
Role
RoleTerm
(authority = RULIB)
school
OriginInfo
DateCreated
(qualifier = exact)
2010
DateOther
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(type = degree)
2010
Place
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(type = code)
xx
RelatedItem
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TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier
(type = RULIB)
ETD
RelatedItem
(type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier
(type = local)
rucore19991600001
Location
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(displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier
(type = doi)
doi:10.7282/T3736R0P
Genre
(authority = ExL-Esploro)
ETD graduate
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Rights
RightsDeclaration
(AUTHORITY = GS);
(ID = rulibRdec0006)
The author owns the copyright to this work.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
RightsHolder
(ID = PRH-1);
(type = personal)
Name
FamilyName
Kulkarni
GivenName
Indraneel
Role
Copyright Holder
RightsEvent
(ID = RE-1);
(AUTHORITY = rulib)
Type
Permission or license
DateTime
2010-03-24 15:02:43
AssociatedEntity
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(AUTHORITY = rulib)
Role
Copyright holder
Name
Indraneel Kulkarni
Affiliation
Rutgers University. Graduate School - New Brunswick
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(AUTHORITY = rulib)
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
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Technical
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ETD
MimeType
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application/pdf
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application/x-tar
FileSize
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1382400
Checksum
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b15f85afe8d9175b368d906f2933b541f0731862
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