2020
DOI: 10.1002/rob.21986
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WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Abstract: This paper presents the main results of the European H2020 WiMUST project, whose aim was the development of a system of cooperative autonomous underwater vehicles and autonomous surface vehicles for geotechnical surveying. In particular, insights on the overall robotic technologies and methodologies employed, ranging from the communications and navigation framework to the cooperative and coordinated control solutions are given. The software architecture and the lessons learnt from the preliminary field test ar… Show more

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Cited by 28 publications
(13 citation statements)
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“…In these cases, decision-making and m2m communication focus on enforcing a control system that governs each participating platform. Ocean survey missions have particularly benefited from cooperative control methods resulting in solutions that are effective for monitoring over extended periods (Leonard, 2016; Ocean Infinity, 2020 1 ; Simetti et al, 2020). -Collaborative solutions focus on complex missions that have a "deep" sequence of dependent and interdependent tasks.…”
Section: Automation and Collaborative Roboticsmentioning
confidence: 99%
“…In these cases, decision-making and m2m communication focus on enforcing a control system that governs each participating platform. Ocean survey missions have particularly benefited from cooperative control methods resulting in solutions that are effective for monitoring over extended periods (Leonard, 2016; Ocean Infinity, 2020 1 ; Simetti et al, 2020). -Collaborative solutions focus on complex missions that have a "deep" sequence of dependent and interdependent tasks.…”
Section: Automation and Collaborative Roboticsmentioning
confidence: 99%
“…x k|k−1 is the predicted state. The set of points ξ i adopts √ n [1] i . Cubature points are also propagated to accomplish the estimation summarized as follows.…”
Section: The Proposed Fgckf Algorithmmentioning
confidence: 99%
“…Multi-AUVs are widely used in underwater operations, which has become a significant trend for environment and oceanography research to improve operation efficiency and diversity concurrently [1]. Cooperative localization (CL) of multi-AUVs is an efficient technology in deep-sea areas, especially where Global Navigation Satellite System (GNSS) is unavailable due to the attenuation of wireless signal.…”
Section: Introductionmentioning
confidence: 99%
“…Alternatively, range measurements from two or more beacons can be used as a OWTT LBL positioning system, which provide a fully-determined position on every broadcast via multilateration; such an approach has been demonstrated by Melo and Matos (2016) as well as more recently by Quraishi et al (2019) and also Randeni et al (2020). A variation of this approach using a OWTT, moving LBL system was very recently demonstrated by Simetti et al (2021) to support navigation for a fleet of four AUVs, each towing an 8m long hydrophone streamer for seismic acquisition. In this work, each AUV was equipped with two acoustic modems -an 18 − 34 kHz mid-frequency modem that received GPS position information and OWTT ranges from corresponding modems mounted on two autonomous surface vehicles (ASVs) acting as anchors for moving OWTT LBL positioning; and a 42 − 65 kHz high-frequency modem for communication of data, AUV monitoring, and reception of operator commands.…”
Section: Related Workmentioning
confidence: 99%
“…The moving OWTT LBL approach demonstrated by Simetti et al (2021) carries with it an associated cost in algorithmic and operational complexity from the use of multiple beacons -the global position of each beacon must be broadcast, then interpreted and integrated into the localization estimate of individual AUVs.…”
Section: Related Workmentioning
confidence: 99%