MONSUN II: A small and inexpensive AUV for underwater swarms

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 6Sprache: EnglischTyp: PDF

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Osterloh, Christoph; Pionteck, Thilo; Maehle, Erik (University of Lübeck, Institut of Computer Engineering, Germany)

This paper presents the design and hardware architecture of the small and inexpensive AUV MONSUN II for use in a swarm. Due to the high number of robots in a swarm, this approach can profit from the parallelization of tasks and its fault-tolerance based on redundancy. This allows the design of small and inexpensive AUVs for applications such as environmental monitoring. First experiments of a simple following behaviour were performed to show the suitability of the system design.