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Tracked robots have been studied for years, to high-level applications, such as autonomous navigation in areas of difficult access and maneuvering strategies that allow better performance compared to other types of vehicles. The full operation of a robotic system depends on ensuring the functioning of all its parts, which can be divided hierarchically or functionality. There is a consensus that the...
In vehicle performance tests, fuel consumption, the components of exhaust gas, and mileage are measured on a chassis dynamometer that simulates the road load. It is difficult even for a professional driver to maintain speeds within the tolerance band of driving test cycles. Thus, there has long been an expectation that robotic drivers will be able to test vehicle performance with high reproducibility...
We present a framework for integrating two layers of map which are often required for fully automated operation: metric and semantic. Metric maps are likely to improve with subsequent visitations to the same place, while semantic maps can comprise both permanent and fluctuating features of the environment. However, it is not clear from the state of the art how to update the semantic layer as the metric...
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...
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results...
This paper examines an integrated path planning and power management problem for a solar-powered unmanned ground vehicle (UGV). The proposed method seeks to minimize the travel time of the UGV through an area with a known energy density by designing an optimal path and allocating the vehicle's power among its electrical components, while the UGV operates under strict power constraints and harvests...
Diving as a profession and sport is and will be one of the most dangerous disciplines known by man. Water is not a natural habitat for humans and people need equipment to breathe underwater. Failure in the breathing apparatus, burst eardrum, decompression sickness and nitrogen narcosis are just a couple of problems which can occur during an ordinary dive and result in injuries, long-term illnesses...
This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and...
In robotics, nowadays, there is a strong evergrowing interest in executing replicable experiments to assess robots performance. This demand can't be easy fulfilled without established ad-hoc procedures to be followed. To this aim, an innovative software framework named DeepRuler is proposed. The presented software is able to design, automatically execute and evaluate highly replicable path-following...
We present a novel path planner for adaptive behaviour of an Autonomous Underwater Vehicle (AUV). A behaviour-based architecture forms the foundation of the system with an extra layer which uses experience to learn a policy for modulating the behaviours' weights. In effect, this creates an abstract environment for the Reinforement Learning (RL) agent's state and action space. Subsequently, it simplifies...
Coastal underwater archaeological sites are by nature dynamic, and often subject to disturbance from the action of waves, currents, sediment, and human activity. The need to document such sites comprehensively, accurately, and quickly has been the driving force behind technological advances in pre-disturbance site mapping since the 1960s. Certain challenges remain constant: the need for technology...
The international interdisciplinary field training of marine robotics and applications 'Breaking the Surface BtS started in 2009 as one of the two flagship dissemination activities of the EU-funded FP7 Capacities REGPOT-2008-1 project ‘De-veloping the Croatian Underwater Robotics Research Potential — CURE’. Three BtS field-trainings were organized as CURE activities (BtS2009, BtS2010 and BtS2011)...
The Singapore Autonomous Underwater Vehicle Challenge, dubbed as SAUVC, is an effort by the IEEE Oceanic Engineering Society Singapore Chapter to engage and expose the tertiary students to the challenges of AUV design. The programme was started in 2013 and was originally intended to create awareness among the local students on the importance of underwater robotics and its relevance to Singapore. However,...
National Institute of Ocean Technology (NIOT), under the Ministry of Earth Sciences, along with IEEE OES and OSIs, conducts a national-level competition for students pursuing engineering degree to visualize and design an autonomous underwater vehicle. The conceptual basis for Student Autonomous underwater Vehicle (SAVe) is a highly mobile autonomous underwater vehicle (AUV) to be built based on engineering...
The EC MORPH project, described in [1], proposes a novel concept of an underwater robotic system that emerges from the integration, albeit in a non-physical manner, of several different mobile robot-modules with distinct and complementary resources. This approach aims to afford end-users efficient tools to map the underwater environment with great accuracy in situations that defy existing technology:...
The adoption of fault detection and isolation (FDI) techniques is fundamental to ensure high levels of safety and productivity, especially in critical and expensive applications like Autonomous Underwater Vehicles (AUV). This paper describes a comparison between different techniques available in the literature, applied to over-actuated AUVs under single fault condition (SFC) and considering only abrupt...
The proposed project shows the results obtained in the implementation and testing in lacustrine and marine environment of a nautical remote controlled vehicle with surface navigation and innovative features Semi-Immersible (SI-USV). This vehicle is based on a pending patent belonging to Palermo University (Patent Pending RM2012A000209 and RM2012A000209) concerning innovative semi-immersible vehicles...
This work reports the experience gathered along 6 years in developing a team-based project activity to promote engineering programs among secondary school students. The aim of the activity is to increase the interest of students for science and technology in general, but also to promote engineering skills, capabilities and values, leading to attract more secondary school students to enrolment for...
The main objective of the CADDY project is to replace a human buddy diver with an autonomous underwater vehicle and add a new autonomous surface vehicle to improve monitoring, assistance, and safety of the diver's mission. However, the use of robots underwater may also bring additional safety requirements. Within the scope of this research, the existing vehicles that will be adapted for the purposes...
Autonomous underwater vehicle (AUV) operations are inherently bandwidth limited but increasingly data intensive. This leads to large latencies between the capture of image data and the time at which operators are able to make informed decisions using the results of a survey. As AUV endurance and reliability continue to improve, there is a greater need for realtime on-board data processing capabilities...
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