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Adaptive nonlinear control of an autonomous underwater vehicle
Transactions of the Institute of Measurement and Control, 2019Autonomous underwater vehicles (AUVs) are highly nonlinear underactuated systems with uncertain dynamics and a challenging control problem. The main focus of this paper is to present a control law that shows desirable performance in the presence of ...
Fahimeh S Tabataba’i-Nasab +2 more
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Autonomous navigation of underwater vehicles
IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259), 2002The goal of the work is to propose a method to solve with visual means the problem of underwater navigation of an autonomous vehicle moving in deep sea in order to perform inspection of a pipe positioned near the ocean floor. We refer to the ability of an autonomous system to determine its motion with respect to the environment. It is well known that a
A. Branca, E. Stella, A. Distante
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Autonomous Underwater Vehicle navigation: A review
Ocean Engineering, 2023Bingbing Zhang +4 more
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Cooperative Autonomous Underwater Vehicle localization
OCEANS'10 IEEE SYDNEY, 2010Due to some communication constraints of the underwater environment, cooperative localization for AUVs is a hard task. In this paper, we present the state of the art in this area, analyse the existing solutions to related problems and propose 2 algorithms, based on the EKF, to solve the localization problem with a group of Autonomous Underwater ...
Marcelo Borges Nogueira +2 more
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Underwater Navigation Systems for Autonomous Underwater Vehicle
2018Over the past few decades, researchers, navy of different countries and different organizations related to maritime archaeology, underwater mines & pipelines etc. had paid considerable attention towards underwater surveying & inspection by autonomous robot or vehicle. Considerable improvements for better AUV navigation have seen in different sensors in
Sachi Choudhary +3 more
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Autonomous Underwater Vehicle Systems
1997Abstract : The long-term goal is to understand the physical and biological relationships often requires high resolution sampling far exceeding present capabilities. If spatially adaptive sampling can be developed, data resolution can be greatly improved over that presently possible with conventional sensor platforms.
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Navigation of underwater autonomous vehicles
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418), 2002The paper suggests an approach to solving the problem of navigation of an underwater vehicle using acoustic and geometric data and gravitation field potential changing in time. The known methods of making seafloor acoustic maps are not effective for correction of coordinates in areas of smooth relief and in shallow water. The suggested algorithm allows
V.I. Korochentsev +4 more
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Autonomous Underwater Vehicle Docking
2016This chapter describes the practical challenges of docking autonomous underwater vehicles (AUV s) in the ocean environment and approaches undertaken to create working docking systems. Early docking work was motivated by the desire to operate AUVs for multiple sorties without recovery or human servicing of the AUV. To accomplish this, the docking system
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The autonomous underwater vehicle "Pipsqueak"
Oceans '02 MTS/IEEE, 2005A team of freshman students was presented with the ambiguous challenge of designing an AUV (autonomous underwater vehicle) the size of a wallet. A Micro-AUV would be small enough to avoid many of the transport problems. Because of the potentially simple design of such an AUV, purchase and maintenance costs could be kept fairly low.
S.J. Fantone +4 more
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