Multi-Agent 3D Seismic Exploration Using Adapt-then-Combine Full Waveform Inversion in a hardware-in-the-loop System

We present a 3D seismic exploration and imaging survey conducted by robotic platforms in a hardware-in-the-loop system. To this end, we integrate the adapt-then-combine full waveform inversion (ATC-FWI) over a network of mobile rovers in the ROS2 framework. The ATC-FWI allows for distributed subsurface imaging in a multi-agent network, i.e., each rover obtains a 3D subsurface image via data exchange with other rovers in the network. We demonstrate the capability of our system by performing multiple surveys using a synthetic subsurface model with an anomaly. The rovers acquire seismic data over different measurement areas and perform distributed imaging to reconstruct the subsurface. We show that the rovers are able to image the anomaly and to enhance their subsurface image over multiple measurement stages in different areas.