Autonomous docking and energy sharing between two types of robotic agents

Babić, Anja; Mandić, Filip; Vasiljević, Goran; Mišković, Nikola

doi:10.1016/j.ifacol.2018.09.453

Cited by 13 publications

(13 citation statements)

References 5 publications

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“…Each aPad has four mechanical docking stations with inductive transmitter coils, and can charge up to four aMussels at a time. To enable autonomous grasping of surfaced aMussels, besides the mechanical docking station design, a visual servoing system was devised comprising a Kinect sensor and a specially designed pan mechanism [ 34 ].…”

Section: Materials and Methodsmentioning

confidence: 99%

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Babić

Lončar

Arbanas

et al. 2020

Sensors

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This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.

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Section: Materials and Methodsmentioning

confidence: 99%

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Babić

Lončar

Arbanas

et al. 2020

Sensors

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“…The long-term research goal of the authors is to develop the current unmanned survey/inspection missions by marine vehicles into missions that are performed by the marine vehicles in a fully autonomous manner controlled by artificial intelligence. This of course means that online sensor data processing must be developed to enable the vehicle to perceive its environment (as published in [19][20][21]), as well as mission and path planning algorithms, so that the behaviour of the vehicle is responsive to the new information about its environment, as published in [15,[22][23][24][25]. For successful, fully autonomous reconnaissance missions, it is of utmost importance that the marine vessels estimate their position accurately, as published by the authors in [12,26,27].…”

Section: Prior Workmentioning

confidence: 99%

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

et al. 2020

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Underwater cultural heritage sites are subject to constant change, whether due to natural forces such as sediments, waves, currents or human intervention. Until a few decades ago, the documentation and research of these sites was mostly done manually by diving archaeologists. This paper presents the results of the integration of remote sensing technologies with autonomous marine vehicles in order to make the task of site documentation even faster, more accurate, more efficient and more precisely georeferenced. It includes the integration of multibeam sonar, side scan sonar and various cameras into autonomous surface and underwater vehicles, remotely operated vehicle and unmanned aerial vehicle. In total, case studies for nine underwater cultural heritage sites around the Mediterranean region are presented. Each case study contains a brief archaeological background of the site, the methodology of using autonomous marine vehicles and sensors for their documentation, and the results in the form of georeferenced side-scan sonar mosaics, bathymetric models or reconstructed photogrammetric models. It is important to mention that this was the first time that any of the selected sites were documented with sonar technologies or autonomous marine vehicles. The main objective of these surveys was to document and assess the current state of the sites and to establish a basis on which future monitoring operations could be built and compared. Beyond the mere documentation and physical preservation, examples of the use of these results for the digital preservation of the sites in augmented and virtual reality are presented.

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“…The long-term research goal of the authors is to develop the current unmanned survey/inspection missions by marine vehicles into missions that are performed by the marine vehicles in a fully autonomous manner controlled by artificial intelligence. This of course means that online sensor data processing must be developed to enable the vehicle to perceive its environment (as published in [27][28][29]), as well as mission and path planning algorithms, so that the behaviour of the vehicle is responsive to the new information about its environment as published in [21,[30][31][32][33]. For successful, fully autonomous reconnaissance missions it is of utmost importance that the marine vessels estimate their position accurately, as published by the authors in [22,34,35].…”

Section: Robotics Research For Remote Sensingmentioning

confidence: 99%

Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia

et al. 2020

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Plitvice Lakes National Park is the largest national park in Croatia and also the oldest from 1949. It was added to the UNESCO World Natural Heritage List in 1979, due to the unique physicochemical and biological conditions that have led to the creation of 16 named and several smaller unnamed lakes, which are cascading one into the next. Previous scientific research proved that the increased amount of dissolved organic matter (pollution) stops the travertine processes on Plitvice Lakes. Therefore, this complex, dynamic but also fragile geological, biological and hydrological system required a comprehensive limnological survey. Thirteen of the sixteen lakes mentioned above were initially surveyed from the air by an unmanned aircraft equipped with a survey grade GNSS and a full frame high-resolution full-screen camera. From these recordings, a georeferenced, high-resolution orthophoto was generated, on which the following surveys by a multibeam sonar depended. It is important to mention that this was the first time that these lakes had ever been surveyed both with the multibeam sonar technique and with such a high-resolution camera. Due to the fact that these thirteen lakes are difficult to reach and often too shallow for a boat-mounted sonar, a special autonomous surface vehicle was developed. The lakes were surveyed by the autonomous surface vehicle mounted with a multibeam sonar to create detailed bathymetric models of the lakes. The missions were planned for the surface vehicle based on the orthophoto from the preliminary studies. A detailed description of the methodology used to survey the different lakes is given here. In addition, the resulting high-resolution bathymetric maps are presented and analysed together with an overview of average, maximum depths and number of data points. Numerous interesting depressions, which are phenomena consistent with previous studies of Plitvice Lakes, are noted at the lake beds and their causes are discussed. This study shows the huge potential of remote sensing technologies integrated into autonomous vehicles in terms of much faster surveys, several orders of magnitude more data points (compared to manual surveys of a few decades ago), as well as data accuracy, precision and georeferencing.

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Autonomous docking and energy sharing between two types of robotic agents

Cited by 13 publications

References 5 publications

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia

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