Tracking Aquatic Invaders: Autonomous Robots for Monitoring Invasive Fish

Carp is a highly invasive bottom-feeding fish that pollutes and dominates lakes by releasing harmful nutrients. Recently, biologists started studying the behavior of carp by tagging the fish with radio emitters. The biologists search for and localize the radio-tagged fish manually using a global pos...

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Bibliographic Details
Published inIEEE robotics & automation magazine Vol. 20; no. 3; pp. 33 - 41
Main Authors Tokekar, P., Branson, E., Vander Hook, Joshua, Isler, V.
Format Journal Article
LanguageEnglish
Published IEEE 01.09.2013
Subjects
Environmental factors
Fish
Mobile robots
Pollution
Radio communication
Receivers
Robot sensing systems
Tagging
Underwater vehicles
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Summary:Carp is a highly invasive bottom-feeding fish that pollutes and dominates lakes by releasing harmful nutrients. Recently, biologists started studying the behavior of carp by tagging the fish with radio emitters. The biologists search for and localize the radio-tagged fish manually using a global positioning system (GPS) and a directional antenna. We are developing a novel robotic sensor system in which human effort is replaced by autonomous robots capable of finding and tracking tagged carp. In this article, we report the current state of our system. We present a new coverage algorithm for finding tagged fish and active localization algorithms for precisely localizing them. In addition to theoretical analysis and simulation results, we report results from field experiments.
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2012.2220506