A Testbed for Performance Evaluation of Underwater Vehicle Team Formation and Steering Algorithms

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Executive Summary

Underwater testbeds are key tools for performance evaluation of underwater communication and coordination algorithms to enable swarming of autonomous vehicles. The authors describe a demonstration of underwater vehicle team formation and steering algorithms using the underwater testbed. The tesdbed allows the user to configure ocean currents and underwater communication parameters so to study properties of these algorithms such as stability, robustness, and convergence. UnderWater Acoustic Sensor Networks (UW-ASNs) have been widely deployed to carry out collaborative monitoring tasks including oceanographic data collection, disaster prevention, and navigation. Autonomous Underwater Vehicles (AUVs) equipped with sensors are used for underwater exploration and information gathering.

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