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Increasing the Autonomy Levels for Underwater Intervention Missions by Using Learning and Probabilistic Techniques [chapter]

Jorge Sales, Luís Santos, Pedro J. Sanz, Jorge Dias, J. C. García
2014 Advances in Intelligent Systems and Computing  
This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV).  ...  This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project.  ...  Some important pieces of this approach are now described: UWSim: the underwater simulator: UWSim is a software tool for visualization and simulation of underwater robotic missions [1] .  ... 
doi:10.1007/978-3-319-03413-3_2 fatcat:xbf2bzv62rgmpndsmov7fydqiq

Reconfigurable AUV for intervention missions: a case study on underwater object recovery

Mario Prats, David Ribas, Narcís Palomeras, Juan Carlos García, Volker Nannen, Stephan Wirth, José Javier Fernández, Joan P. Beltrán, Ricard Campos, Pere Ridao, Pedro J. Sanz, Gabriel Oliver (+4 others)
2011 Intelligent Service Robotics  
Starting in January 2009, the RAUVI (Reconfigurable Autonomous Underwater Vehicle for Intervention Missions) project is a three years coordinated research action funded by the Spanish Ministry of Research  ...  The RAUVI project is a multi-disciplinar approach to underwater intervention that involves different research groups at three universities: Jaume-  ...  The autonomous underwater vehicle The GIRONA 500 is a reconfigurable autonomous underwater vehicle (AUV) designed for a maximum operating depth of up to 500 m (see figure 2 ).  ... 
doi:10.1007/s11370-011-0101-z fatcat:hl6ak6pdhrfbjdwxsfj2fca3de

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Josué González-García, Alfonso Gómez-Espinosa, Enrique Cuan-Urquizo, Luis Govinda García-Valdovinos, Tomás Salgado-Jiménez, Jesús Arturo Escobedo Cabello
2020 Applied Sciences  
Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments.  ...  In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems.  ...  Experiments were performed with three autonomous marine vehicles following three different trajectories.  ... 
doi:10.3390/app10041256 fatcat:5no5dqan4nfd7gj77rjatffzsa

Uncertainty-driven survey path planning for bathymetric mapping

Enric Galceran, Sharad Nagappa, Marc Carreras, Pere Ridao, Albert Palomer
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Based on this magnitude, we provide an algorithm that computes the order in which to trace parallel tracks to cover the target area minimizing the overall uncertainty along the path.  ...  A particle filter keeps track of the robot's position uncertainty during the planning process and, in order to find useful loopclosures for mapping, crossing tracks that visit salient locations are added  ...  We do so by executing the paths in simulation using UWSim [36] , an open source tool for visualization and highfidelity simulation of underwater robotic missions.  ... 
doi:10.1109/iros.2013.6697228 dblp:conf/iros/GalceranNCRP13 fatcat:peqhrpk3rrhcjn5ot3ck5gwfb4

Trajectory-Based Visual Localization in Underwater Surveying Missions

Antoni Burguera, Francisco Bonin-Font, Gabriel Oliver
2015 Sensors  
We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities.  ...  The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop  ...  Conflicts of Interest The authors declare no conflict of interest.  ... 
doi:10.3390/s150101708 pmid:25594602 pmcid:PMC4327099 fatcat:kkkequw7rjfu3l3mybgm6mvdcy


Petar Kormushev, Edwin Olson, Ashutosh Saxena, Wataru Takano
2012 Cybernetics and Information Technologies  
Introduction Nowadays, Autonomous Underwater Vehicle (AUV) robots are used in different applications like seabed survey, mine cleaning, cable or pipeline tracking [1] , deep ocean exploration with visual  ...  Girona-500 is a reconfigurable autonomous underwater vehicle designed for a maximum operating depth of up to 500 m.  ...  Then, a new model which combines the inverted pendulum approach with a three-dimensional (Cartesian) compliant model at the level of the center of mass is proposed.  ... 
doi:10.2478/cait-2012-0016 fatcat:ikosrhqlobe7da64pgprx554me

Towards Realizing Intelligent Coordinated Controllers for Multi-USV Systems Using Abstract Training Environments

Sulemana Nantogma, Keyu Pan, Weilong Song, Renwei Luo, Yang Xu
2021 Journal of Marine Science and Engineering  
Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area.  ...  We believe that this system can facilitate the simulation, data acquisition, training, and evaluation of practical cooperative unmanned vehicles' controllers in a closed-loop.  ...  Moreover, the authors in [25] developed a platform to model and visualize the behavior of marine vehicles in three-dimensional space for surface and subsurface applications.  ... 
doi:10.3390/jmse9060560 fatcat:3f57l7ko45ddbfkvkh62b6rmzq

Development of Modeling and Simulation Platform for Path-Planning and Control of Autonomous Underwater Vehicles in Three-Dimensional Spaces

Sai Krishna Abhiram Kondapalli
Achieving autonomy in underwater vehicles relies on a tight integration between modules of sensing, navigation, decision-making, path-planning, trajectory tracking, and low-level control.  ...  Autonomous underwater vehicles (AUVs) operating in deep sea and littoral environments have diverse applications including marine biology exploration, ocean environment monitoring, search for plane crash  ...  Tian-Bing Xu for being a part of my thesis committee and devoting time and effort to this study.  ... 
doi:10.25777/dfg0-d589 fatcat:wik4haakkvearmwvsnrc6fd6zu

Cooperative and Interaction Control for Underwater Robotic Vehicles [article]

Shahab Heshmati-Alamdari, National Technological University Of Athens, National Technological University Of Athens
School of Mechanical Engineering  ...  The simulation environment is designed based on UwSim dynamic simulator [262] running on the Robot Operating System (ROS) [215] .  ...  Visual Servo Control has been extensively used in the past for the autonomous operation of underwater robotic vehicles.  ... 
doi:10.26240/heal.ntua.3077 fatcat:yggqfj4ppbfxfifat2uizzckvy