MANgO: Federated world Model using an underwater Acoustic NetwOrk

Gordon Frost, David Michael Lane, Nikolaos Tsiogkas, Daniele Spaccini, Chiara Petrioli, Maarja Kruusmaa, Victoria Preston, Taavi Salumae

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


The usage of Autonomous Underwater Vehicles (AUVs) in scientific and industrial applications has increased in the last decade. In many applications the usage of fleet of heterogeneous assets is a key requirement. Their coordination and cooperation require high performance in terms of communication and information sharing. MANgO presents a federated world model operating over an underwater acoustic network through the networking capabilities provided by the SUNSET Software Defined Communication Stack (SDCS). It provides a method to transparently synchronise the local World Model (WM) of a vehicle with the rest of the heterogeneous team. The performance of the proposed architecture is demonstrated and compared with previous approaches using simulation and hardware-in-the-loop tests. Results show an improvement in the performance of at least 30% as well as the ease of integration with a variety of heterogeneous platforms.

Original languageEnglish
Title of host publicationOCEANS 2017 - Aberdeen
Number of pages6
ISBN (Electronic)9781509052783
Publication statusPublished - 26 Oct 2017
EventOCEANS 2017 - Aberdeen - Aberdeen, United Kingdom
Duration: 19 Jun 201722 Jun 2017


ConferenceOCEANS 2017 - Aberdeen
Country/TerritoryUnited Kingdom
Internet address


  • Acoustic communications
  • Distributed World Model Service
  • MANgO

ASJC Scopus subject areas

  • Instrumentation
  • Computer Networks and Communications
  • Oceanography
  • Acoustics and Ultrasonics
  • Automotive Engineering


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