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Visual-based autonomous robotic exploration of unstructured and highly dynamic environments is a complex task. We present an approach to carry out an attention-driven exploration of underwater environments. This work is aimed to grant autonomy to an exploring agent in terms of deciding where to move in function of relevant visual information. This way we could obtain close video-observations of regions...
A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such...
Autonomous Underwater Vehicles (AUVs) have been widely used in assisting scientific operations. They can increase the scientific output by performing operations in a cost effective and safe manner. This paper focuses in the underwater archaeology scientific discipline. It presents the distributed high level architecture developed by the Heriot Watt University Ocean Systems Laboratory (HWUOSL) in the...
Water quality monitoring is still mostly done by taking manual water samples and sensor measurements from boats. To enable extensive, efficient and repeatable environmental monitoring, there is a need for ‘ready to sample’ robot systems, which do not require individual vehicle control, or a lot of prior information. This paper describes an approach to decentralized adaptive formation control for environmental...
The virtual reconstruction of underwater environments in 3 dimensions can be of great utility for scientific or industrials applications, being the use of Autonomous Underwater Vehicles (AUVs) equipped with cameras an invaluable tool with progressive improvements. However, a highly accurate vehicle localization process is fundamental to place every portion of that 3D model in its real position with...
This article summarizes the experience of the NATO Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) in the organization of the Student Autonomous Underwater Vehicle Challenge-Europe (SAUC-E) and euRathlon 2014 competitions. SAUC-E (http://sauc-europe.org/) started in 2006 in the UK and has been hosted by CMRE in La Spezia, Italy, since 2010. Each year...
A robust maintenance of ecosystems demands for highly accurate and frequent monitoring of their status. The extension and remoteness of some environments renders their human-based monitoring extremely difficult. Riverine environments are a notorious example, as their sampling requires to bear into account both streams and riverbanks. The relevance of monitoring riverine environments is magnified by...
This paper provides an overview on the software architecture used for the realization of cooperative behavior of heterogeneous marine robots. The work was performed within the European Research Project MORPH (FP7-ICT-288704) which strived for the solution to ocean mapping missions over harsh environments like vertical and overhanging cliff walls by employing a team of different unmanned marine crafts...
Cognitive Autonomous Diving Buddy (CADDY) is an FP7 project initiated in February 2014. The key objectives of the project are to develop, implement, and demonstrate in the course of missions at sea the efficacy of a number of innovative systems to assist human divers during the execution of demanding scientific and commercial activities in hazardous underwater environments. At the core of CADDY is...
Autonomous Underwater Vehicles (AUVs) are a useful tool for science and industry. They significantly reduce the risk to humans in operations in hazardous and high cost situations. The use of multiple AUVs can enhance the operational capabilities by introducing specialisation of AUV capabilities and parallelising task execution. The coordination of the multi-AUV team requires communication among its...
A multi-robot exploration algorithm is presented which is targeted at the exploration of 3D structures which predominantly extend along one orientation — the motivating example is underwater cliffs which are locally 3D but that are more globally seen to extend along a continuous vertical surface. The multi-robot exploration aims to maximise the sampling of the environment, causing much denser scans...
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