Donny K. Sutantyo

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An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective(More)
The EU-funded CoCoRo project studies heterogeneous swarms of AUVs used for the purposes of underwater monitoring and search. The CoCoRo underwater swarm system will combine bio-inspired motion principles with biologically-derived collective cognition mechanisms to provide a novel robotic system that is scalable, reliable and flexible with respect its(More)
This paper presents the use of Lévy flight, a bioinspired algorithm, to efficiently and effectively locate targets in underwater search scenarios. We demonstrate how a novel adaptation strategy, building on the Firefly optimization algorithm, substantially improves Lévy flight performance. The adaptation strategy represents a swarm intelligence approach,(More)
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for robot-robot and robot-object detection, can create a dedicated cooperation between multiple AUVs. These technologies,(More)
The CoCoRo system will consist of several subsystems: A 'floating base station', which feeds global information (e.g., GPS) into the system, a self-aware 'ground swarm' that performs the focal task and a 'relay swarm' that bridges the communication between the these two agents. Both, the ground swarm and the relay swarm consist of AUVs able to perform 3D(More)
An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective(More)
In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model(More)
This paper introduces the application of blue light sensor for guiding an individual AUV to dock to another one in clear water environment. Thanks to this method, an underwater reconfigurable robot can evolve from swarm mode into organism mode to perform other embodiment and locomotion mechanisms. Compared to classical sonar systems, the advantage of using(More)
This paper presents the use of Lévy flight, a bio-inspired algorithm, to efficiently and effectively locate targets in underwater search scenarios. We demonstrate how a novel adaptation strategy, building on the Firefly optimization algorithm, substantially improves Lévy flight performance. The adaptation strategy represents a swarm(More)