An autonomous integrated system for 3-D underwater terrain map reconstruction

Shen, Zongyuan; Song, Junnan; Mittal, Khushboo; Gupta, Savita

doi:10.1109/oceans.2016.7761067

Cited by 7 publications

(3 citation statements)

References 10 publications

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“…The reconstruction quality can be improved by equipping the vehicle with a localization algorithm that merges IMU, DVL and USBL/LBL and an online collision-free path planner [81]. 3D reconstruction can be obtained from Multibeam sonar [82], [83] doing one or more layers path [84]. A new 3D reconstruction technique where the object is inspected using the laser line/camera system installed in the robotic manipulator forearm is described in [85].…”

Section: A Uwsimmentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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The underwater environment is among Earth's most challenging domains, where failures incur elevated risks and costs for both technology and human endeavors. As a consequence, forecasting the behavior of mechatronic systems through simulation has become increasingly important. Underwater Robotic Simulators (URSs) allow researchers and engineers to safely develop and assess submarine systems. The selection of an appropriate URS from the list of available tools is not trivial. Moreover, the integration of this software with the Digital Twin (DT) concept presents numerous advantages, particularly the ability to link the simulated environment with actual underwater vehicles. This connection is facilitated by performing validation and simulation tests using Software In the Loop (SIL), Model In the Loop, and Hardware In the Loop (HIL) techniques. This paper extensively reviews URSs in the context of both robots and unmanned vehicles in light of the DT paradigm. The article critically examines distinctions among existing URSs, offering valuable insights to aid researchers in selecting the most fitting tool for their specific applications. Additionally, the review explores the practical applications of the identified simulators, categorizing their usage across different fields to illuminate the preferences within the scientific community and showcase prominent case studies.

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Section: A Uwsimmentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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“…These obstacles can range from no-fly zones to buildings. In the literature, multi-UAV applications [39] and single-UAV applications [40] are available. In this work, a single UAV is chosen.…”

Section: Problem Definitionmentioning

confidence: 99%

Single-drone energy efficient coverage path planning with multiple charging stations for surveillance

Celik,

Ustaomer,

Satoglu

2023

Int. J. Optim. Control, Theor. Appl. (IJOCTA)

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Drones have started to be used for surveillance within the cities, visually scanning the predefined zones, quickly detecting abnormal states such as fires, accidents, and pollution, or assessing the disaster zones. Coverage Path Planning (CPP) is a problem that aims to determine the most suitable path or motion plan for a vehicle to cover the entire desired area in the task. So, this paper proposes a novel two-dimensional coverage path planning (CPP) mathematical model with the fact that a single drone may need to be recharged within its route based on its energy consumption, and the obstacles must be avoided while constructing the route. Our study aims to create realistic routes for drones by considering multiple charging stations and obstacles for surveillance. We tested the model for a grid example based on the scenarios obtained by changing the layout, the number of obstacles and recharging stations, and area size using the Python Gurobi Optimization library. As a contribution, we analyzed the impact of the number of existing obstacles and recharging stations, the size and layout of the area to be covered on total energy consumption, and the total solution time of CPP in our study for the first time in the literature, through a detailed Scenario Analysis. Results show that the map size and the number of covered cells affect the total energy consumption, but different layouts with shuffled cells are not effective. The area size to be covered affects the total computation time, significantly. As the number of obstacles and recharging stations increases, the computation time decreases up to a certain limit, then stabilizes.

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“…In addition, due to the less user intervention, operational costs are reduced [1] and [2]. The fields in which AUVs are used include; hydrographic and scientific survey, offshore industry and defense [3], [4], [5] [6] [7] and [8]. Due to the extreme nature of the underwater environment, that includes high pressures, corrosive effects of seawater and the possibility of damage by bad sea state or collisions, the reliability of AUVs is a topic of interest to avoid the loss of high cost equipment [9].…”

Section: Introductionmentioning

confidence: 99%

Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

Acosta

Menna

Carlucho

et al. 2019

OCEANS 2019 - Marseille

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Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.

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An autonomous integrated system for 3-D underwater terrain map reconstruction

Cited by 7 publications

References 10 publications

Underwater Simulators Analysis for Digital Twinning

Underwater Simulators Analysis for Digital Twinning

Single-drone energy efficient coverage path planning with multiple charging stations for surveillance

Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

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