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Talk-27: Area Coverage Optimization for Multiple Unmanned Surface Vessels

Seung-Won Choi, Hyun-Taek Choi, Tae-Wan Kim, Seoul National University

Area coverage and overlapped area ratio are the main indicators for evaluating the performance of Directional Sensor Network(DSN). When operating multiple robots at the same time, a well-planned route not only increases the area coverage of DSN but also reduces the overlapped area. In this project, we propose an appropriate path planning method for increasing the efficiency of DSN in the case of the simultaneous operation of multiple Unmanned Surface Vessels(USV) in the underactuated system. Also, using the advanced marine autonomy software, MOOS-IvP, several USVs exchange dates with each other and use them to optimize individual paths in real time.


  • USVs
  • Sensor Processing
  • Environmental Monitoring