Robotic electrolocation: Active underwater target localization with electric fields

James R. Solberg; Kevin M. Lynch; Malcolm A. MacIver

doi:10.1109/ROBOT.2007.364231

Robotic electrolocation: Active underwater target localization with electric fields

James R. Solberg^*, Kevin M. Lynch, Malcolm A. MacIver

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

24 Scopus citations

Abstract

We explore the capabilities of a robot designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The robot is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. We characterize the performance of the robot using several types of automatic electrolocation controllers, objects, and water conditions. We demonstrate successful electrolocation both in the conditions in which it is naturally observed, in low conductivity water, as well as in conditions in which it is not observed, in water of ocean salinity. The belief of the position of the target is maintained via a particle filter and refined with each measurement.

Original language	English (US)
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	4879-4886
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.2007.364231
State	Published - Nov 27 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

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abstract = "We explore the capabilities of a robot designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The robot is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. We characterize the performance of the robot using several types of automatic electrolocation controllers, objects, and water conditions. We demonstrate successful electrolocation both in the conditions in which it is naturally observed, in low conductivity water, as well as in conditions in which it is not observed, in water of ocean salinity. The belief of the position of the target is maintained via a particle filter and refined with each measurement.",

author = "Solberg, {James R.} and Lynch, {Kevin M.} and MacIver, {Malcolm A.}",

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AB - We explore the capabilities of a robot designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The robot is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. We characterize the performance of the robot using several types of automatic electrolocation controllers, objects, and water conditions. We demonstrate successful electrolocation both in the conditions in which it is naturally observed, in low conductivity water, as well as in conditions in which it is not observed, in water of ocean salinity. The belief of the position of the target is maintained via a particle filter and refined with each measurement.

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Robotic electrolocation: Active underwater target localization with electric fields

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