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This work presents an innovative and low-cost pipeline conceived for the complete study of underwater sites. The pipeline is inserted in a more complex control scheme, developed with the final aim of obtaining very accurate documentations. Underwater data can be gathered by both divers and robots, and elaborated using a dedicated cloud computing system, which gives to researchers a 3D reconstruction...
This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and...
Remotely Operated Vehicles have been used in underwater exploration for many years. At the same time, 3D video and photo technology has been improving, allowing the user to better perceive the third dimension. This work presents the hardware development of a 3D video system integrated in a commercial ROV, able to bring to the surface the stereo vision in real time. An opportune interface has been...
Intervention activities in underwater environments are of great importance in many areas, such as the exploration, monitoring and documentation of sea resources, historical treasures or industrial applications. The use of robotic systems and automatic procedures is becoming fundamental, since the work conditions for divers are risky and often unfeasible, and several kind of works are every way impossible...
The activities associated to underwater diving are of great importance in many areas. In the second half of the last century, diving technologies have greatly progressed, but diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The use of robotic systems and automatic procedures would allow, as in other situations...
The development of new marine environment monitoring technologies is a field of research involving an heterogeneous public. The documentation and cataloging of underwater sites as well as the supervision and sampling of biological parameters have always involved researchers like archaeologists and biologists. Moreover, sport activities regarding the sea have been showing a keen interest in more efficient...
The amount of data required for a virtual reconstruction of an underwater archaeological site requires automatic systems for collecting data, based on the use of robots and unmanned underwater vehicles, which can work for a long time, in a hostile environment, without risk to human operators and with acceptable costs. However, such systems have often to be driven by expert pilots, adding costs to...
Recent years have seen an increasingly interest by the scientific community in the realization of minimally invasive technologies and tools for carrying out activities like exploration and intervention in the marine environment. This paper will describe the design and realization of a novel assisted guidance system for a Micro ROV, which is part of a more complex robotic system, together with a large...
This paper is aimed at investigating the performance of a behavior-based controller for area coverage and target detection missions, in which multiple Autonomous Underwater Vehicles (AUVs) are employed. The main contribution of this work is the analysis of the performance improvement when a realistic underwater communication network is considered among robots, exploited in a realistic mission. In...
This paper proposes a mission planner controller, developed to manage a group of Autonomous Underwater Vehicles (AUVs) performing a target detection and recognition task. The whole mission is divided in two fundamental steps: i) an area covering task, aimed at finding objects of interest and implementing the Behavior-Based (BB) approach introduced in [1]; ii) a real-time path planner, leading the...
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