Finding and Localizing Radio-Tagged Carp with an Autonomous Robotic Boat

Robotic Sensor Networks composed of robots and wireless sensing devices hold the potential to revolutionize environmental sciences by enabling researchers to collect data across expansive environments, over long, sustained periods of time. In this paper, we will report our progress on building such a system for monitoring invasive fish (common carp) in inland lakes. In particular, we will present (1) an overview of the system, (2) an algorithm for the robots to find signal emitted from radio tags carried by the fish, and (3) an algorithm to accurately localize the fish using multiple measurements. We conclude with results from field trials and directions for future research.