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The main contribution of this paper is the development of a rapid, dynamic path-planning system for 3-DOF marine surface vessels navigating in environments where other marine vehicles might be operating too. The method is based on the Voronoi diagram and generates the initial path while ensuring that clearance constraints are satisfied with respect to both land and shallow waters. Fermat's Spiral...
This paper proposes a rapid path-planning and replanning system for Unmanned Underwater Vehicles (UUVs) that navigate in environments where subsea structures and other vehicles may be present. The proposed method is based on the Voronoi diagram, which is used to generate an initial set of connected waypoints (a roadmap) in the three-dimensional (3D) space, ensuring a certain clearance to avoid collisions...
With the recent development of computer graphics and video-gaming, 360° cameras and related technologies, Head Mounted Displays (HMDs) are becoming a popular tool to improve the users experience and efficiency. This trend is also connected to the computer technology improvements of the latest years and its price decrease: HMDs are now more performing and, at the same time, commercially accessible...
Methods for using underwater vehicles for mapping and monitoring are developed continuously. These methods developed must be accurate, quantitative and repeatable while being as cost effective as possible. In 2011, 2012, 2013 and 2014 The Norwegian University of Science and Technology (NTNU) Applied Underwater Robotics Laboratory completed surveys in the Trondheim Fjord area. During these surveys...
Research since 2009 has shown that despite almost total darkness during the Arctic polar night, there is much more biological activity than previously assumed, both at the sea surface, water column and sea floor. Here, we describe in situ monitoring of the bioluminescent fraction of the zooplankton community (dinoflagellates, copepods, krill and ctenophores) as a function of time and space. In order...
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