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CMRE-PR-2019-056.Pdf (4.392Mb) SCIENCE AND TECHNOLOGY ORGANIZATION CENTRE FOR MARITIME RESEARCH AND EXPERIMENTATION Reprint Series CMRE-PR-2019-056 Cooperative robotic networks for underwater surveillance: an overview Gabriele Ferri, Andrea Munafò, Alessandra Tesei, Paolo Braca, Florian Meyer, Konstantinos Pelekanakis, Roberto Petroccia, João Alves, Christopher Strode, Kevin LePage June 2019 Originally published in: IET Radar, Sonar & Navigation, volume 11, issue 12, December 2017, pp. 1740-1761, doi: 10.1049/iet-rsn.2017.0074 About CMRE The Centre for Maritime Research and Experimentation (CMRE) is a world-class NATO scientific research and experimentation facility located in La Spezia, Italy. The CMRE was established by the North Atlantic Council on 1 July 2012 as part of the NATO Science & Technology Organization. The CMRE and its predecessors have served NATO for over 50 years as the SACLANT Anti-Submarine Warfare Centre, SACLANT Undersea Research Centre, NATO Undersea Research Centre (NURC) and now as part of the Science & Technology Organization. CMRE conducts state-of-the-art scientific research and experimentation ranging from concept development to prototype demonstration in an operational environment and has produced leaders in ocean science, modelling and simulation, acoustics and other disciplines, as well as producing critical results and understanding that have been built into the operational concepts of NATO and the nations. CMRE conducts hands-on scientific and engineering research for the direct benefit of its NATO Customers. It operates two research vessels that enable science and technology solutions to be explored and exploited at sea. The largest of these vessels, the NRV Alliance, is a global class vessel that is acoustically extremely quiet. CMRE is a leading example of enabling nations to work more effectively and efficiently together by prioritizing national needs, focusing on research and technology challenges, both in and out of the maritime environment, through the collective Power of its world-class scientists, engineers, and specialized laboratories in collaboration with the many partners in and out of the scientific domain. Copyright © IET, 2017. NATO member nations have unlimited rights to use, modify, reproduce, release, perform, display or disclose these materials, and to authorize others to do so for government purposes. Any reproductions marked with this legend must also reproduce these markings. All other rights and uses except those permitted by copyright law are reserved by the copyright owner. NOTE: The CMRE Reprint series reprints papers and articles published by CMRE authors in the open literature as an effort to widely disseminate CMRE products. 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these new paradigms can be readily applied. Existing surveillance systems composed of statically deployed sensors, or based on the use of expensive and time-consuming ship-based operations, could be easily and effectively complemented with robotics platforms. Compared to traditional assets, these small, low-power, sensorised and mobile units have usually limited processing and communication capabilities, but when deployed in a spatially separated manner, they can be interconnected to form an intelligent network able to achieve high mission performance. Within this framework, nodes cooperate and make distributed decisions based on locally collected and/or communicated data. Static nodes collect data at fixed locations for extended time periods forming the backbone of ad hoc communication infrastructures. Mobile units build upon acquired data and use their mobility to extend the operational area and to
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