Towards Mapping of Underwater Structures by a Team of Autonomous Underwater Vehicles
, 2023 In this paper, we discuss how to effectively map an underwater structure with a team of robots considering the specific challenges posed by the underwater environment. The overarching goal of this work is to produce high-definition, accurate, photorealistic representation of underwater structures.
Marios Xanthidis +8 more
openaire +2 more sources
Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle
, 2007 In this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomousunderwater vehicle are presented.
Jantapremjit, Pakpong, Wilson, P. A.
core +1 more source
Guidance and Control, for Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation [PDF]
, 2005 This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its guidance, navigation and control performance.
Healey, Anthony J., Anthony J. Healey
core +1 more source
A Soft Robotic Jellyfish with Decoupled Actuators for Agile 3D Locomotion
Advanced Intelligent Systems, EarlyView.This study presents a soft robotic jellyfish featuring a functionally decoupled actuation architecture. By separating propulsion, steering, and vertical regulation into independent modules, the robot overcomes conventional coupled‐motion limitations. Utilizing a passive‐valve‐based differential drag strategy and lateral water jets, it achieves agile 3D
Zhuoheng Li +6 more
wiley +1 more source
Cteno‐Bot: An Untethered Metachronally Swimming Robot With Magnetoactive Propulsors
Advanced Intelligent Systems, EarlyView.We present Cteno‐bot, an untethered ctenophore‐inspired robot which swims using metachronally coordinated appendages. A single mechanism controls up to 216 magnetoactive propulsors via a dynamically varying magnetic field. We show that the swimming speed of the robot can be increased without a corresponding increase in power requirement, simply by ...
David J. Peterman, Margaret L. Byron
wiley +1 more source
Adaptive fixed‐time fault‐tolerant fuzzy control of AUVs with asymmetric output constraints
IET Intelligent Transport SystemsThe fast and safe formation tracking problem for multiple autonomous underwater vehicle (AUV) systems (MAUVS) with asymmetric output constraints and actuator faults is studied in this article.
Xiaojia Li +3 more
doaj +1 more source
Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle
, 2011 We report the results obtained during the verification of Autosub6000, an autonomous underwater vehicle used for deep oceanic exploration.Our starting point is the Simulink/Matlab engineering model of the submarine, which is discretised by a compiler ...
Lomuscio, Alessio +4 more
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A Two‐Stage Characterization Pipeline and Open‐Source Framework for Reproducible Tactile Sensing
Advanced Intelligent Systems, EarlyView.The same soft tactile sensor returns different numbers when embodied in different robots. This is an Embodiment Gap that no shared framework currently captures transparently. A two‐stage characterization pipeline, paired with a FAIR open‐source digital datasheet, decouples intrinsic sensor behavior from embodiment effects and condenses cross‐laboratory
Matteo Lo Preti +6 more
wiley +1 more source
Virtual planar motion mechanism tests of the autonomous underwater vehicle autosub
, 2007 Hydrodynamic derivatives are used to model the manoeuvring performance of proposed and existing hull forms. A simple robust method, using unsteady RANS simulations is presented to numerically replicate the experimental PMM tests performed on a scale ...
Turnock, S.R. +2 more
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Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV [PDF]
, 2012 In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators ...
Rogers, E. +4 more
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