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A scripting language for state configured layered control of a long range autonomous underwater vehicle (AUV) is introduced. The XML-based language has been designed to meet the complex requirements for long-term autonomous operation. It does not require that mission planners be programmers, yet allows them to have a high degree of certainty at deployment that the robot will do what they want it to...
Survey class Autonomous Underwater Vehicles (AUVs) rely on Doppler Velocity Logs (DVL) for precise navigation near the seafloor. In cases where the seafloor depth is greater than the DVL bottom lock range, transiting from the surface, where GPS is available, to the seafloor presents a localisation problem since both GPS and DVL are unavailable in the midwater column. This paper proposes an alternative...
The design and initial testing of a wind- and solar-powered (WASP) autonomous surface vehicle (ASV) are presented. The concept vehicle is a 4.2-m length overall monohull keelboat powered by a rigid wing sail with a 5-m span. It is designed to operate in 7-10 km of wind and a maximum sea state of 2. Specific attention is placed on the aerodynamic, hydrodynamic, and systems integration aspects of the...
The Center for Robot-Assisted Search and Rescue (CRASAR??) deployed the custom Sea-RAI man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified...
The use of unmanned marine robotic vehicles in bathymetric surveys is discussed. This paper presents recent results in autonomous bathymetric missions with the ROAZ autonomous surface vehicle. In particular, robotic surface vehicles such as ROAZ provide an efficient tool in risk assessment for shallow water environments and water land interface zones as the near surf zone in marine coast. ROAZ is...
This work proposes the development of a low-cost ocean observation vehicle. This vehicle, a hybrid between autonomous underwater vehicles (AUV) and autonomous surface vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column according to a pre-established plan. Its design means production costs are low and efficiency is increased. Also, the vehicle...
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