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Most of the autonomous underwater vehicles (AUVs) are provided with a main battery to process the on-board software and for the electronic systems. In this case, on-board energy capacity (battery capacity) will limit the operational time of the AUV. Energy depletion may occur at a critical moment during a task execution. In addition, returning the robot to its home-base and recharging the AUV to complete...
Autonomous underwater robotic vehicles (AUVs) are equipped with monitoring and emergency systems (MESs) to increase the mission success rate. The MES ensures the AUV's safety in water and the fault tolerance of its subsystems. The signals produced by the self-test functionality of robot subsystems as well as the parameters measured by sensors are the source information for the MES. Nowadays, MES actions...
An Autonomous Underwater Vehicle (AUV) needs to demonstrate a number of capabilities, in order to carry on autonomous missions with success. One of the key areas is correctly understanding the surrounding environment. However, most of the state-of-the-art approaches in labelling world information are based on the analysis of a single frame, whilst - especially in scenarios where the vehicle interact...
An application for offline Reinforcement Learning in the underwater domain is proposed. We present and evaluate the integration of the Q-learning algorithm into an Autonomous Underwater Vehicle (AUV) for learning the action-value function in simulation. Three separate experiments are presented. The first compares two search policies: the ε - least visited, and random action, with respect to convergence...
Autonomous Underwater Vehicles (AUVs) are in high demand within the offshore industry and maritime research, mainly used for bathymetry and data acquisition. The control architectures of these AUVs mimic this primary function by focusing on strict mission plans as these kind of application require, thus reducing the need for direct sensor reaction to emergency situations. The emerging needs for more...
This work considers the re-design of an autonomous underwater vehicle (AUV) in which an innovative, neurobiological inspired sensorization control system is being implemented. Hardware architecture and sensorization control software are being developed to allow autonomous navigation procedures for submarine vehicles. After the refurbishment of the vehicle and the update of its control system, the...
This paper presents a sonar-based localization approach for an autonomous underwater vehicle, valid both in structured and unstructured environments. The presented system is based on a particle filter approach to represent the vehicle state. It uses a mechanical scanning imaging sonar, as the main sensor to have information about the environment. In this paper we present the chosen approach, highlighting...
The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated...
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