Print Email Facebook Twitter Obtaining design knowledge for an underwater robot-swarm for inspecting mooring chains Title Obtaining design knowledge for an underwater robot-swarm for inspecting mooring chains Author De Graaff, F. Horstink, T. Overtoom, M. Sirks, K. Contributor Verhoeven, C. (mentor) Vercruysen, T. (mentor) Henrion, S. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Mechanical, Maritime and Materials Engineering Project WBTP303 Date 2015-01-09 Abstract We propose a swarming-algorithm that enables a group of autonomous robots to inspect the mooring chains of an oil-platform located in the North Sea. The algorithm, from which an autonomous underwater robot swarm can emerge, is designed to work within the limitations of underwater robotics and communication. Agent-based modelling and simulation (ABMS) has been used to assess the influence of communication pa- rameters and swarm-size on swarm behaviour in order to obtain knowledge on underwater robot-swarm design. Using the gained knowledge an algorithm is constructed for an autonomous underwater swarm where 160 agents can visit and inspect at least 80% of the mooring chains of a specific oil-platform, within 24 hours, without losing agents. To reference this document use: http://resolver.tudelft.nl/uuid:fa1bedf9-01f1-42df-9b65-51957b8c4593 Part of collection Student theses Document type bachelor thesis Rights (c) 2015 The Author(s) Files PDF 109_paper.pdf 142.18 KB Close viewer /islandora/object/uuid:fa1bedf9-01f1-42df-9b65-51957b8c4593/datastream/OBJ/view