Tracking Aquatic Invaders: Autonomous Robots for Invasive Fish

Pratap Tokekar · Elliot Branson · Joshua Vander Hook · Volkan Isler

IEEE Robotics and Automation Magazine 2013

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Abstract

Carp is a highly invasive, bottom-feeding fish which pollutes and dominates lakes by releasing harmful nutrients. Recently, biologists started studying carp behavior by tagging the fish with radio-emitters. The biologists search for and localize the radio-tagged fish manually using a GPS and a directional antenna. We are developing a novel robotic sensor system in which the human effort is replaced by autonomous robots capable of finding and tracking tagged carp. In this paper, we report the current state of our system. We present a new coverage algorithm for finding tagged fish and active localization algorithms for localizing them precisely. In addition to theoretical analysis and simulation results, we report results from field experiments.

@article{ tokekar2013tracking,
    title = "Tracking Aquatic Invaders: Autonomous Robots for Invasive Fish",
    author = {Pratap Tokekar and Elliot Branson and Joshua {Vander Hook} and Volkan Isler},
    journal = {IEEE Robotics and Automation Magazine},
    year = "2013",
    doi = "10.1109/MRA.2012.2220506",
}