Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
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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

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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.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.source 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.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 https://doi.org/10.3390/app9173526
dc.identifier.idgrec 137362
dc.rights.accessRights open access es_ES

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