Tan and Collaborator Receive NSF Grant
on Bio-Inspired Underwater Sensing
Xiaobo Tan and his collaborator, Prof. Fumin Zhang from Georgia Tech, have received an NSF grant on bio-inspired underwater sensing. The goal of this three-year project is to establish a theoretical framework and provide an enabling technology for robust underwater collaborative sensing with small, inexpensive robots. Inspired by the source-seeking behavior of live fish, computationally efficient algorithms will be developed for cooperative tracing of the gradients of environmental fields, and their robustness will be analyzed in the presence of localization error and changing communication topology. The algorithms will be experimentally validated in thermal source seeking and tracing with a group of energy-efficient and highly maneuverable gliding robotic fish, which are enhanced in this project with optical communication and localization capabilities. Advanced controllers will be developed for these robots to realize three-dimensional maneuvering and to track reference paths planned through collaborative sensing algorithms. This award will offer fundamental understanding of limits and robustness properties of collaborative sensing by resource-limited robots, and contributes to the knowledge base in underwater communication and ranging for small robots.
The full abstract of the project is available at http://www.nsf.gov/awardsearch/showAward?AWD_ID=1319602.