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Informative path planning for an autonomous underwater vehicle

Jonathan Binney, Andreas Krause, Gaurav S Sukhatme
2010 2010 IEEE International Conference on Robotics and Automation  
We present a path planning method for autonomous underwater vehicles in order to maximize mutual information.  ...  We present field results from ocean trials on planning paths for a specific AUV, an underwater glider.  ...  CONCLUSIONS AND FUTURE WORK We have presented a strategy for path planning for underwater gliders which maximizes mutual information.  ... 
doi:10.1109/robot.2010.5509714 dblp:conf/icra/BinneyKS10 fatcat:zfl4tjer7bgb5blchvot3dfdfu

Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO [chapter]

Ji-Hong Li, Sung-Kook Park, Seung-Sub Oh, Jin-Ho Suh, Gyeong-Hwan Yoon, Myeong-Sook Baek
2011 Autonomous Underwater Vehicles  
And this information will be used for vehicle's www.intechopen.com Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO 29 underwater path planning.  ...  Artificial landmarks For P-SURO AUV, the main purpose of underwater vision is to provide localization information for the vehicle's path planning task.  ...  Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO, Autonomous Underwater Vehicles, Mr.  ... 
doi:10.5772/24620 fatcat:kglntgwz55ggxctm7rsyd3usua

Research on the development and path exploration of autonomous underwater robots

Junqi Liu, L. Nguyen
2022 ITM Web of Conferences  
a reasonable and efficient dynamic path for target search in unknown underwater space.  ...  Aiming at the difficulties in engineering practice of path search in underwater unknown space, the traditional space path exploration method is analyzed, and a hybrid search algorithm is proposed to plan  ...  algorithm Route plan Path planning is also a key work link for autonomous underwater robots to perform autonomous operations.  ... 
doi:10.1051/itmconf/20224701029 fatcat:mc7tqwo2cjb4jdfazn4lfn7a6u

An Autonomous Navigation System for Unmanned Underwater Vehicle [chapter]

Seong-Gon Kim, Yong-Gi Kim
2009 Underwater Vehicles  
Inzartsev, ISBN 978-953-7619-49-7, pp. 582, December 2008, I-Tech, Vienna, Austria www.intechopen.com Underwater Vehicles 280 Intelligent system architecture The navigation system for autonomous underwater  ...  Source: Underwater Vehicles, Book edited by: Alexander V.  ...  An Autonomous Navigation System for Unmanned Underwater Vehicle, Underwater Vehicles, Alexander V.  ... 
doi:10.5772/6707 fatcat:zuxjeebuv5bfhlu2sqz5shkgpe

Autonomous Seabed Inspection for Environmental Monitoring [chapter]

Juan David Hernández, Klemen Istenic, Nuno Gracias, Rafael García, Pere Ridao, Marc Carreras
2015 Advances in Intelligent Systems and Computing  
We present an approach for navigating in unknown environments, while gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV).  ...  To accomplish this, we first use our framework for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity.  ...  Path Planning Framework This section reviews our path planning framework for solving start-to-goal queries online for an AUV in an unknown environment (see Fig. 2 ) [4] .  ... 
doi:10.1007/978-3-319-27149-1_3 fatcat:obbpg2juu5alfiwvawht6nzml4

Guest editorial: special issue on long-term autonomy in marine robotics

Francesco Maurelli, Marc Carreras, Kanna Rajan, David Lane
2016 Autonomous Robots  
In recent years, persistent autonomous operations have become a key area of interest for marine robotics researchers.  ...  The challenge in doing so is particularly severe in the context of the marine environment, and especially for robotic assets to be observable and communicable over space and time.  ...  Shah at al. propose a path planning strategy for autonomous Unmanned Surface Vehicles (USVs), which have to work for long periods of time and move next to civilian vessels.  ... 
doi:10.1007/s10514-016-9606-9 fatcat:d6hqneezkrhvnkmftjpauqi7sm

Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View

Alessandro Ridolfi, Nicola Secciani, Mascha Stroobant, Matteo Franchi, Leonardo Zacchini, Riccardo Costanzi, Giovanni Peralta, Luigi Enrico Cipriani
2021 Journal of Marine Science and Engineering  
The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering  ...  Planning the management of such areas, thus, requires an accurate and updated knowledge of the ongoing processes.  ...  Informed Consent Statement: Not applicable. Data Availability Statement: Not applicable. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/jmse9101111 fatcat:6gxhpnwplnfihdtn5nlgotndrm

Embedded Knowledge and Autonomous Planning: The Path Towards Permanent Presence of Underwater Networks [chapter]

Pedro Patron, Emilio Miguelanez, Yvan R.
2011 Autonomous Underwater Vehicles  
Autonomous Underwater Vehicles www.intechopen.com Embedded Knowledge and Autonomous Planning: the Path Towards Permanent Presence of Underwater Networks Autonomous Underwater Vehicles www.intechopen.com  ...  Presence of Underwater Networks www.intechopen.com 219 22 Underwater Vehicles Autonomous Underwater Vehicles www.intechopen.com Embedded Knowledge and Autonomous Planning: the Path Towards  ...  Embedded Knowledge and Autonomous Planning: The Path Towards Permanent Presence of Underwater Networks, Autonomous Underwater Vehicles, Mr.  ... 
doi:10.5772/24649 fatcat:6rbubp5w7zcx7nz34frbw4vbhe

A novel versatile architecture for autonomous underwater vehicle's motion planning and task assignment

Somaiyeh Mahmoud Zadeh, David M. W. Powers, Karl Sammut, Amir Mehdi Yazdani
2016 Soft Computing - A Fusion of Foundations, Methodologies and Applications  
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework  ...  This paper focuses on developing a deliberative conflict-free-task assignment architecture encompassing a Global Route Planner (GRP) and a Local Path Planner (LPP) to provide consistent motion planning  ...  An energy efficient fuzzy based route planning using priori known wind information in a graph-like terrain is presented by Kladis et al. (2011) for UAVs motion planning. M.  ... 
doi:10.1007/s00500-016-2433-2 fatcat:pnbb6vbtz5ecxmpcgporfpvwz4

Obstacle avoidance while bottom following for the remus autonomous underwater vehicle

Anthony J. Healey
2004 IFAC Proceedings Volumes  
Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network.  ...  Following previous work on steering control, this work examines collision avoidance behaviors in bottom following using a hypothetical forward-looking sonar for the autonomous underwater vehicle REMUS.  ...  However, due to the unpredictable nature of an underwater environment, path planning alone is insufficient to allow for safe vehicle navigation.  ... 
doi:10.1016/s1474-6670(17)31984-5 fatcat:yjbdki75vvbonontvuj2tszuhu

Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Yueyue Deng, Pierre-Philippe J. Beaujean, Edgar An, Edward Carlson
2013 Journal of Robotics  
Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under  ...  We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities.  ...  Underwater acoustic networking is an enabling technology for various collaborative missions involving multiple autonomous underwater vehicles [5] .  ... 
doi:10.1155/2013/483095 fatcat:rpgfjlikgzgevar4wybkl6xhxq

A Consolidated Review of Path Planning and Optimization Techniques: Technical Perspectives and Future Directions

Faiza Gul, Imran Mir, Laith Abualigah, Putra Sumari, Agostino Forestiero
2021 Electronics  
This kind of extensive research is not often seen in the literature, so an effort has been made for readers interested in path planning to fill the gap.  ...  The paper provides a consolidated platform, where plenty of available research on-ground autonomous vehicle and their trajectory optimization with the extension for aerial and underwater vehicles are documented  ...  Similar to ground and aerial vehicles, autonomous underwater vehicles (AUVs) also need path planning to have an optimal path for their navigation.  ... 
doi:10.3390/electronics10182250 fatcat:xxbfslyes5ctpfktnprezb6p6m

Towards an Ontology for Autonomous Robots

Liam Paull, Gaetan Severac, Guilherme V. Raffo, Julian Mauricio Angel, Harold Boley, Phillip J Durst, Wendell Gray, Maki Habib, Bao Nguyen, S. Veera Ragavan, Sajad Saeedi G., Ricardo Sanz (+4 others)
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles  ...  As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots.  ...  Our thanks must also go to Francesco Amigoni, Emilio Miguelanez, Craig Schlenoff, Edson Prestes, Raj Madhavan and other members of the IEEE RAS Ontologies for Robotics and Automation Working Group for  ... 
doi:10.1109/iros.2012.6386119 dblp:conf/iros/PaullSRABDGHNRGSSSTL12 fatcat:qwcfhlfeurhktfx6g72majlurm

Guidance of an Autonomous Underwater Vehicle in Special Situations [article]

Mike Eichhorn
2017 arXiv   pre-print
This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations.  ...  The special demands challenges of the underwater environment, computer parameters, sensors and the maneuverability of the vehicle are considered in the selection and development of the required strategies  ...  Wernstedt, who made it possible for me to work in this interesting project.  ... 
arXiv:1702.08107v1 fatcat:p3a2wxz7yncu3g6yt3riuulge4

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

Juan Hernández, Klemen Istenič, Nuno Gracias, Narcís Palomeras, Ricard Campos, Eduard Vidal, Rafael García, Marc Carreras
2016 Sensors  
We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV).  ...  To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity.  ...  Module for (Re)Planning Paths Online The planning module is in charge of calculating a collision-free path for the AUV.  ... 
doi:10.3390/s16081174 pmid:27472337 pmcid:PMC5017340 fatcat:4mzz52lfyvfwriscz56w4cdbei
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