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Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line...
the last decade has seen an exponential growth in the legal literature looking at the applicability of the law as it relates to the operational use of Autonomous Underwater Vehicles (AUV). The legal views postulated in this burgeoning body of literature are varied and can be very driven by scenario [e.g. requirement for navigational safety] or by class of AUV operator [defence/academic]. The legality...
Taking inspiration from nature the NEMOdeep vehicle described in this paper is being developed as a laboratory demonstrator to showcase potential technologies to achieve small deep diving autonomous underwater vehicles. The design of the vehicle is a hybrid of conventional AUV components with engineered analogues of marine animal organs. The internal structure is comprised of a spine, ribs and sternum,...
This paper presents the design and implementation of control architecture for the ISiMI6000 AUV (Autonomous Underwater Vehicle) which is developing by MOERI-KIOST. The ISiMI6000 AUV is a sea-trial AUV up to the 6,000m depth. The control architecture of the ISiMI6000 AUV is a hybrid architecture consisting of the mission layer, the behavior layer, the logical sensor layer, and the library layer. The...
The authors have been involved for several decades in the development and testing of both remotely controlled and autonomous subsea and ground vehicles. This experience has led us to view autonomous mobile robot control problems from both a bottom up and a top down perspective. Specifically, in our work, we have developed and tested a three-level software architecture called Rational Behavior Model...
This paper presents an optimal and efficient path planner based on an annular space decomposition (ASD) scheme for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed scheme decomposes the search space into annular regions, and allows placing one or more control points within each of this region. The trajectory is then generated from this...
This paper presents a control framework for creating a 3D map of flow field dependent physical ocean variables by controlling multiple AUVs to maximize information gain. In this framework a nonlinear Kalman Filter is used to update the noisy measurements from multiple sensors at uncertain positions. First, the area of interest is discretized into a 3D grid. Each grid point has an associated estimate...
The role of turbulence is critical in the redistribution of heat and salt throughout the global ocean, and in boundary currents of the high-latitude oceans in particular. In the Arctic Ocean, warm, saline waters of Atlantic origin, which are carried northwards by the West Spitsbergen Current (WSC), are the largest source of oceanic heat carried into the Arctic Eurasian basin, and may have a significant...
The Autonomous Underwater Vehicle (AUV) community has for many years recognized the potential benefits made by adapting mission planning on-the-fly. Over the years there has been some degree of success in applying adaptive mission planning to very specific problems. Examples of applications include capabilities for a vehicle to search for, and then modify its trajectory to follow, a feature such as...
In recent years, the use of autonomous underwater vehicles has become increasingly popular for a wide variety of applications. As the cost of deploying a vehicle and the risk of loss or damage are often high, AUV missions typically consist of simple pre-scripted behaviours. Designed to minimise risk to the vehicle and its scientific cargo, these behaviours are inevitably overly-conservative, reserving...
Autonomous Underwater Vehicles (AUVs) are getting progressively sophisticated by increasing their self-governance capabilities which allow them to deal with more and more complex missions. However, there is still not a common agreement on the aspects that should be evaluated to know what level of autonomy AUVs provide. This paper reviews the current approaches to assess autonomous behavior in self-governed...
The AUV DAGON was designed as a vehicle for algorithm evaluation and visual mapping. Since its initial launching in early 2010 two years of experiments and experience with the vehicle have passed. This paper will give an overview of the work with the AUV DAGON and highlight the scientific experiments conducted with it, concluding with a “lessons learned” section with important modifications and ideas...
This paper presents a path planning scheme for a class of torpedo-type AUVs in unknown environments. Consider the case where an underactuated vehicle (similar to a carlike robot) is travelling in completely unknown environments. In this case, due to deficiency of necessary information, quite number of graph generation and corresponding graph searching methods cannot be directly applicable. In this...
This paper is a part of the Nature in Engineering for Monitoring the Oceans (NEMO) project, investigating bio-inspiration to improve the performance of Unmanned Untethered Underwater Vehicles (UUUVs). Since biological systems (i.e. marine animals) are natives to the oceans, successfully surviving through time, they have been the source of this approach.
The last decade has established the underwater glider as an important platform for oceanographic research. To further the capabilities of glider research three Florida Institute of Technology students have been actively designing a glider that is considerable cheaper than commercial gliders. This vehicle introduces external wing control surfaces for steering and a mechanical buoyancy engine. The aim...
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently...
Underwater vehicles are increasing their autonomous capabilities more and more in order to carry out more complex and longer missions. This basically requires operational resilience and efficient energy consumption to succeed in persistent presence. Some of current Autonomous Underwater Vehicles (AUVs) have a large degree of self-governance but most of them lack self-management (e.g. auto-maintenance...
The challenge of extending the autonomy in AUV deployments is one of the most important issues in oceanographic research today. The possibility of maintaining a team of AUV under deployment in a defined area of interest for a long period could provide an additional source of information [8]. All this data in combination with the measures provided by buoys and sea gliders used for slow motion and long...
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