Huxley: A flexible robot control architecture for autonomous underwater vehicles

Goldberg, Dani

doi:10.1109/oceans-spain.2011.6003512

Cited by 26 publications

(19 citation statements)

References 10 publications

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“…Slipping of this robot occurs for abrupt changes in underwater current direction or speed. This locomotion is used in MONSUN II [59], URIS [58], C-RANGER [57], HAUV [60], KORDI ROV [61], KOS ROV [62]. [43], (b) VDG300 [40] The main disadvantage of this solution is the difficulty in crossing cracks and obstacles and the discontinuity in motion.…”

Section: Propulsion (Diving) Locomotionmentioning

confidence: 99%

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Albitar

Dandan

Ananiev

et al. 2016

International Journal of Advanced Robotic Systems

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Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a lightweight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

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Section: Propulsion (Diving) Locomotionmentioning

confidence: 99%

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Albitar

Dandan

Ananiev

et al. 2016

International Journal of Advanced Robotic Systems

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“…The authors of the Huxley proposal [ 55 ] regard it as a production robot control architecture enabled to be adopted in a wide range of platforms, that is to say, underwater vehicles. Flexibility, understood as the capacity of using the proposal with a variety of platforms and payloads, is a feature greatly stressed in this architecture.…”

Section: Description Of the Proposalsmentioning

confidence: 99%

A Survey on Intermediation Architectures for Underwater Robotics

Martínez-Ortega

Rodríguez‐Molina

et al. 2016

Sensors

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Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

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“…An increasing number of vehicle platforms offer an external control interface for payload control [12], [13], [14], [15], and as customers request more access to and capabilities from the base vehicle, the methods of interfacing with them will have to be both more flexible and more robust to take full advantage of the potential they offer. This is especially true as development moves into higher levels of cognition and reasoning such as goal-based autonomy [16]; developers should be able to use as many existing capabilities as possible to minimize the additional work required.…”

Section: Introductionmentioning

confidence: 99%

Multi-layered vehicle control via payload autonomy

Bouchard

2016

OCEANS 2016 MTS/IEEE Monterey

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Huxley: A flexible robot control architecture for autonomous underwater vehicles

Cited by 26 publications

References 10 publications

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems

A Survey on Intermediation Architectures for Underwater Robotics

Multi-layered vehicle control via payload autonomy

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