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This paper presents the current state of the development of a Wireless HROV (Hybrid Remotely Operated Vehicle HROV), providing feedback of both, camera and telemetry data to the operator, over an acoustic communication link. This experiment is part of the MERBOTS Spanish national project (www.irs.uji.es/merbots). This work has as main objective the design of a bidirectional transport protocol for...
Persistent deployment of underwater assets holds the key to achieve consistent, long-term undersea monitoring. To advance in that direction, the LOON-DOCK project aims to demonstrate remote AUV operation and survey data transmission through the Internet using an underwater docking station. We present a funnel-shaped docking station equipped with a contactless high bandwidth link and the necessary...
Range-only measurements are extensively used in many Autonomous Underwater Vehicle (AUV) applications. These measurements do not depend on water quality and can be taken from long distances. This paper proposes two methods based on the Sum of Gaussian (SoG) filter, to solve the range-only localization problem for homing. The use of the SoG allows us to combine the benefits of both a Particle Filter...
We present a framework for planning collision-free paths online for autonomous underwater vehicles (AUVs) in unknown environments. It is composed of three main modules (mapping, planning and mission handler) that incrementally explore the environment while solving start-to-goal queries. We use an octree-based representation of the environment and we extend the optimal rapidly-exploring random tree...
New potential applications of autonomous underwater vehicles (AUVs) involve operations in unknown and cluttered environments, therefore increasing the vehicle exposure to collisions. To cope with these situations, we use an AUV framework for planning collision-free paths in unknown environments, which adapt and replan the paths according to nearby obstacles perceived during the mission execution using...
Building accurate bathymetries of the seabed has been a focus of study in the last decade. For this purpose seabed point cloud registration has been a focus for some researchers. Some of this registration methods are based on gathering the points of the cloud that contain more information for the registration (i.e. the ones that flat or smooth, normally being the seabed) and using them as part of...
This paper presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, which is based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence. The method is applied to autonomously locate a subsea panel and home to it in order to establish...
While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of benthic stations or black-boxes are a few of them. These tasks are addressed nowadays using manned submersibles or work-class remotely operated...
This paper describes a probabilistic surface matching method for pose-based bathymetry SLAM using a multibeam sonar profiler. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches. Then, a probabilistic implementation of the ICP is used to deal with the uncertainty of the robot pose as well as the measured points in a two-stage process...
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