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Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles
IEEE Robotics and Automation Magazine, 2019Remotely operated vehicles (ROVs) revolutionized the subsea industry when they were introduced in the 1960s. They were more powerful and inherently safer, and they could go deeper than divers. However, they require a tether and a support ship, which makes their use complex and expensive.
Yvan Petillot +2 more
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Optimality for underwater vehicle's
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2002We study the time-optimal trajectories for fully actuated planar underwater vehicles, with constraints on input forces. Using the maximum principle, we focus on the structure of singular extremals and their possible optimality.
Monique Chyba +2 more
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Avoidance of underwater cliffs for autonomous underwater vehicles
IEEE/RSJ International Conference on Intelligent Robots and System, 2003This paper introduces a method aiming to allow underactuated autonomous underwater vehicles navigating in an unknown environment to avoid underwater cliffs. Three electro-acoustic transducers situated in the front part of the vehicle provide bathymetric data.
Vincent Creuze, Bruno Jouvencel
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An autonomous underwater vehicle for competition
2012 First National Conference for Engineering Sciences (FNCES 2012), 2012The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable ...
Hai Tian +4 more
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Framework for Combining Multiple Lightweight Underwater Vehicles into Super Underwater Vehicle
2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020This paper investigates the potential of using multiple, rigidly interconnected lightweight underwater vehicles (LUVs) as a cheaper alternative to using a single vehicle for mapping and monitoring. The objective is to develop a prototype super underwater vehicle (SUV) demonstrating the proficiency of the multi-vehicle approach.
Havard Snefjella Lovas +2 more
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Underwater floor pattern matching with an unmanned underwater vehicle
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015The localization of unmanned underwater vehicle (UUV) is important for the UUV to inspect or manipulator objects. We assume that there is an UUV with a camera sensor and the UUV uses the underwater floor pattern for localization. Because the pattern is known beforehand, the pattern matching between the pattern image and the camera image lets the UUV ...
Jung-Tae Kim +5 more
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Autonomous underwater vehicles localisation in mobile underwater networks
International Journal of Sensor Networks, 2017Autonomous underwater vehicles AUVs form mobile underwater networks to conduct underwater surveying missions cooperatively. Due to the severe turbulence caused by water currents, individual AUV has to adjust its heading constantly to ensure reaching destination.
Xiaohui Wei 0002 +4 more
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Safety Aspects for Underwater Vehicles
2010Advances in technologies related to miniature sensors, memories, embedded controllers, power systems and materials has resulted in development of variety of autonomous underwater platforms for ocean exploration. The future in oceanographic instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1 ...
Madhan, R. +7 more
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On Underwater Vehicle Routing Problem
2015In the paper we consider a problem of underwater vehicle routing (also called path planning) which can be described as follows: Given positions under water have to be inspected by the mobile robot taking under consideration water currents, minimizing the total time of the inspection.
Wojciech Bozejko +3 more
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