We describe our efforts on building a robotic system for detecting and tracking radio-tagged invasive fish using teams of autonomous ground and surface vehicles. In addition to system building and field experiments, our efforts clustered around three fundamental problems: (1) Search: how to find the target as quickly as possible, (2) Active localization: how to actively choose measurement locations to accurately estimate target locations, and (3) Long-term autonomy through energy-efficiency and harvesting. We present specific problem formulations and a summary of our results so far. We conclude the paper with a discussion on our progress and next steps.
|Original language||English (US)|
|Title of host publication||SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - Mar 29 2016|
|Event||IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015 - West Lafayette, United States|
Duration: Oct 18 2015 → Oct 20 2015
|Name||SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics|
|Other||IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015|
|Period||10/18/15 → 10/20/15|
Bibliographical noteFunding Information:
This work is funded by the National Science Foundation Project # 1111638: A Robotic Network for Locating and Removing Invasive Carp from Inland Lakes, #0916209, #0917676 and #0936710. The authors would like to thank RSN Lab members who contributed to the project throughout the years. The authors would also like to thank Brett Miller and Mary Haedrick for their involvement in gathering 0telemetry data.