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Underwater Wireless Communications for Cooperative Robotics with UWSim-NET

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Underwater Wireless Communications for Cooperative Robotics with UWSim-NET

dc.contributor.author	Centelles, Diego
dc.contributor.author	Soriano Asensi, Antonio
dc.contributor.author	Martí, José Vicente
dc.contributor.author	Marín, Raúl
dc.contributor.author	Sanz, Pedro J.
dc.date.accessioned	2020-03-30T11:21:29Z
dc.date.available	2020-03-30T11:21:29Z
dc.date.issued	2019
dc.identifier.citation	Centelles, Diego Soriano Asensi, Antonio Martí, José Vicente Marín, Raúl Sanz, Pedro J. 2019 Underwater Wireless Communications for Cooperative Robotics with UWSim-NET Applied Sciences-Basel 9 3526
dc.identifier.uri	https://hdl.handle.net/10550/73711
dc.description.abstract	The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. This article also shows the results of three experiments that demonstrate the capabilities of UWSim-NET in modeling radio frequency (RF) and acoustic links in underwater scenarios. It also permits evaluating several MAC protocols such as additive links online Hawaii area (ALOHA), slotted floor acquisition multiple access (S-FAMA) and user defined protocols. A third experiment demonstrated the excellent capabilities of UWSim-NET in conducting hardware in the loop (HIL) experiments.
dc.language.iso	eng
dc.relation.ispartof	Applied Sciences-Basel, 2019, vol. 9, p. 3526
dc.subject	Robots
dc.subject	Comunicació i tecnologia
dc.subject	Xarxes locals sense fil Wi-Fi
dc.title	Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
dc.type	journal article	es_ES
dc.date.updated	2020-03-30T11:21:29Z
dc.identifier.doi	10.3390/app9173526
dc.identifier.idgrec	137362
dc.rights.accessRights	open access	es_ES