| NSF Org: |
CNS Division Of Computer and Network Systems |
| Recipient: |
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| Initial Amendment Date: | June 25, 2015 |
| Latest Amendment Date: | June 25, 2015 |
| Award Number: | 1513203 |
| Award Instrument: | Standard Grant |
| Program Manager: |
Jie Yang
jyang@nsf.gov (703)292-4768 CNS Division Of Computer and Network Systems CSE Directorate for Computer and Information Science and Engineering |
| Start Date: | August 15, 2015 |
| End Date: | July 31, 2019 (Estimated) |
| Total Intended Award Amount: | $520,981.00 |
| Total Awarded Amount to Date: | $520,981.00 |
| Funds Obligated to Date: |
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| History of Investigator: |
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| Recipient Sponsored Research Office: |
1600 HAMPTON ST COLUMBIA SC US 29208-3403 (803)777-7093 |
| Sponsor Congressional District: |
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| Primary Place of Performance: |
315 Main St. Columbia SC US 29208-4101 |
| Primary Place of
Performance Congressional District: |
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| Unique Entity Identifier (UEI): |
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| Parent UEI: |
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| NSF Program(s): | CCRI-CISE Cmnty Rsrch Infrstrc |
| Primary Program Source: |
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| Program Reference Code(s): |
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| Program Element Code(s): |
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| Award Agency Code: | 4900 |
| Fund Agency Code: | 4900 |
| Assistance Listing Number(s): | 47.070 |
ABSTRACT
This infrastructure proposal supports the acquisition of a multi-robot team suited for operations
in coastal environments. The robot team consists of two underwater vehicles (AUVs), three
surface vehicles (ASVs), as well as unmanned aerial vehicles (UAVs): two fixed-wing UAVs and
two quadrocopters. The target domain is the coastal waters of South Carolina. In several applications
such as environmental monitoring, homeland security, resource utilization, and contamination
tracking, there is a need to track a mass of water, record a set of properties, such as salinity,
temperature, presence of different substances, and also record the position and boundaries
of the said body. The proposed infrastructure will enable computing research for addressing
the above problems.
This project revolves around enabling research on several CISE research
fields at the University of South Carolina, including algorithmic development for multi-robot
coordination, path-planning and state estimation; planning under uncertainty; sensor fusion
from different modalities; and human-robot interaction.
PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH
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PROJECT OUTCOMES REPORT
Disclaimer
This Project Outcomes Report for the General Public is displayed verbatim as submitted by the Principal Investigator (PI) for this award. Any opinions, findings, and conclusions or recommendations expressed in this Report are those of the PI and do not necessarily reflect the views of the National Science Foundation; NSF has not approved or endorsed its content.
This enabled the acquisition of a fleet of autonomous robotic vehicles suitable for the aquatic environment, marine and fresh water. In particular, six Autonomous Surface Vehicles (robotic boats) commonly refered as ASVs were designed and constructed at the University of South Carolina, based on the Mokai EsKape boat. The ASVs are designed to operate in a sliding autonomy mode, starting on manual operation, teleoperation, way point navigation, to autonomous steering and velocity control. In particular, waypoints and velocity commands can be transmitted from a ground control station (GCS) or generated on board the vessel, enabling operations beyond the communication range. The ASVs have been used for research on multi-robot lake coverage for bathymetric measurements; mapping and monitoring of rivers, and operations in the presence of adversarial forces (wind and currents). More specifically, the coverage operations for performing bathymetric surveys were performed. The proposed algorithm took into account the kinematic contraints of the vehicle in order to produce efficient trajectories. Exploration and monitoring of rivers resulted in four different algorithms for operations with different objectives. The ASVs will be utilized in future research on Harmfull Algae Blooms (HABs). Two Autonomous Underwater Vehicles (AUVs) and one Remotely Operated Vehicle (ROV) were acquired which were used to pursue research in underwater state estimation, coral classification, and shipwreck mapping. Several students were trained in the design, development, and operations of marine robots. The robots were also used to several highschool students interested in the STEM field.
Last Modified: 11/26/2019
Modified by: Ioannis Rekleitis
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