Cooperative Multi Agent System for Ocean Observation System based on Consensus Algorithm

https://doi.org/10.1016/j.procs.2015.12.343Get rights and content
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Abstract

In this paper, we present a cooperative decision making problem of multi agent system for ocean observation system. We consider a team of agents consisting of three blimps and buoys. The aim is to obtain cohesion in heading for the multi blimp to assist aerial mapping and act as the communication hub for a series of ODAS buoy. The ocean observation framework is design suited to the coral reef environment condition. The cooperative solution proposed is based on animal inspired consensus for small flock. The consensus algorithm is developed to solve reach agreement as a whole to acquire the best heading. The results show fast converges of consensus and the effectiveness were demonstrated through numerical simulations.

Keywords

Cooperative
Multi agent
consensus
ocean observation
blimp

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Peer-review under responsibility of organizing committee of the 2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS 2015).