Hydrobatics: A Review of Trends, Challenges and Opportunities for Efficient and Agile Underactuated AUVs

Bhat, Sriharsha; Stenius, Ivan

doi:10.1109/auv.2018.8729805

Cited by 21 publications

(11 citation statements)

References 55 publications

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“…In their work, the authors study various AprilTag configuration and densities in a research tank setup. They discuss the suitability for agile robot maneuvering, also referred to as hydrobatics [83]. Given a sufficient a of markers available within the camera field of view, they report the localisation accuracy in the range of only a few centimeters.…”

Section: Augmented Reality Markermentioning

confidence: 99%

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Watson

Duecker

Groves

2020

Sensors

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The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those that are found in nuclear storage facilities and accident sites, marinas and boatyards, liquid storage tanks, or flooded tunnels and sewers. Human inspections of these environments are often dangerous or infeasible, so remote inspection using unmanned underwater vehicles (UUVs) is used. Due to access restrictions and environmental limitations, such as low illumination levels, turbidity, and a lack of salient features, traditional localisation systems that have been developed for use in large bodies of water cannot be used. This means that UUV capabilities are severely restricted to manually controlled low-quality visual inspections, generating non-geospatially located data. The localisation of UUVs in these environments would enable the autonomous behaviour and the development of accurate maps. This article presents a review of the state-of-the-art in localisation technologies for these environments and identifies areas of future research to overcome the challenges posed.

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Section: Augmented Reality Markermentioning

confidence: 99%

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Watson

Duecker

Groves

2020

Sensors

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“…The core software modules on SAM run within the Robot Operating System (ROS) 1 . 1 https://www.ros.org/ 1) Mission planning: Missions for SAM start with creating a mission plan with the LSTS Neptus 2 software. Neptus provides a graphical interface where a mission plan can be created by adding way points on a world map.…”

Section: B Software Architecture and Subsystemsmentioning

confidence: 99%

“…Hydrobatic autonomous underwater vehicles (AUVs) can be efficient and agile [1], thereby potentially offering innovative use cases and operational scenarios in aqua-cultures, surveying and inspection missions [2], environmental monitoring operations [3] and multi-agent tasks [4]. These use cases can lead to benefits in areas including ocean production, environmental sensing and security.…”

Section: Introductionmentioning

confidence: 99%

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A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

Bhat

Torroba

Özkahraman

et al. 2020

2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043)

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Cyber-physical systems (CPSs) comprise a network of sensors and actuators that are integrated with a computing and communication core. Hydrobatic Autonomous Underwater Vehicles (AUVs) can be efficient and agile, offering new use cases in ocean production, environmental sensing and security. In this paper, a CPS concept for hydrobatic AUVs is validated in realworld field trials with the hydrobatic AUV SAM developed at the Swedish Maritime Robotics Center (SMaRC). We present system integration of hardware systems, software subsystems for mission planning using Neptus, mission execution using behavior trees, flight and trim control, navigation and dead reckoning. Together with the software systems, we show simulation environments in Simulink and Stonefish for virtual validation of the entire CPS. Extensive field validation of the different components of the CPS has been performed. Results of a field demonstration scenario involving the search and inspection of a submerged Mini Cooper using payload cameras on SAM in the Baltic Sea are presented. The full system including the mission planning interface, behavior tree, controllers, dead-reckoning and object detection algorithm is validated. The submerged target is successfully detected both in simulation and reality, and simulation tools show tight integration with target hardware.

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“…As a response to this, the organisa- The transit flight performance of underwater gliders has been studied by Deutsch et al (2020). SMaRC has further been focusing on developing agility without the cost of endurance by studying hydrobatic capabilities of a slender-flight-style AUV, potentially offering disruptive designs in how to optimise the utilisation of onboard sensors and manipulators as well as extending the operational range (Bhat and Stenius 2018, Bhat et al 2019and Bhat et al 2020).…”

Section: Adjustments To Strengthen the Organisation And Collaborationsmentioning

confidence: 99%

SMaRC Swedish Maritime Robotics Centre : Mid-Term Evaluation Report 2020

2020

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Hydrobatics: A Review of Trends, Challenges and Opportunities for Efficient and Agile Underactuated AUVs

Cited by 21 publications

References 55 publications

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

SMaRC Swedish Maritime Robotics Centre : Mid-Term Evaluation Report 2020

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