University essay from Mälardalens högskola/Akademin för innovation, design och teknik

Abstract: For underwater robotics there exists severe constraints regarding wireless bandwidth in the kilobits range. This makes a centralised approach to high-level mission management possibly less than ideal due to inherent delays and possible temporary incompleteness in data during decision making. This thesis aims to propose, implement (in ROS) and test a distributed approach. An auction based method for task assignment was being used, as well as a Pagerank based approach that models a trust based hierarchy between autonomous agents inferred from information exchange, in order to enforce decision conformity. Simulations where carried out using UWsim and a custom made bandwidth limiter for ROS. It was concluded that the Pagerank based algorithm managed to uphold conformity and solve conflicts during network slowdown but did not always lead to the correct decisions being enforced.

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