Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
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Otros documentos de la autoría: Centelles, Diego; Soriano Asensi, Antonio; Martí Avilés, José Vicente; Marin, Raul; Sanz, Pedro J
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Título
Underwater Wireless Communications for Cooperative Robotics with UWSim-NETAutoría
Fecha de publicación
2019-08-28Editor
MDPIISSN
2076-3417Cita bibliográfica
Centelles, D.; Soriano-Asensi, A.; Martí, J.V.; Marín, R.; Sanz, P.J. Underwater Wireless Communications for Cooperative Robotics with UWSim-NET. Appl. Sci. 2019, 9, 3526.Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://www.mdpi.com/2076-3417/9/17/3526Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
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 ... [+]
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. [-]
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Applied Sciences, 2019, vol. 9, no 17Derechos de acceso
info:eu-repo/semantics/openAccess
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