Wireless HROV control with compressed visual feedback over an acoustic link

Centelles, Diego; Moscoso, Eduardo; Vallicrosa, Guillem; Palomeras, Narcís; Sales, Jorge Henrique; Martí, José V.; Marı́n, R.; Ridao, Pere; Sanz, Pedro J.

doi:10.1109/oceanse.2017.8084979

Cited by 8 publications

(12 citation statements)

References 11 publications

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“…The project faces the problem of underwater cooperative intervention which, in a first stage, will be able to pick up, recover and transport objects such as pipes, using two intervention vehicles, wireless communications, a supervisory control human-robot interface, and an auxiliary robot for giving the user and the robot team external views for enhancing the intervention efficiency. The system uses as knowledge base previous results from the FP7 TRIDENT [21] and MERBOTS [4] projects.…”

Section: Merbots and Twinbot Projectsmentioning

confidence: 99%

“…The implementation of the module for the S2CR acoustic modem is described in detail in [4]. The data link protocol used by these modems is D-MAC [14].…”

Section: Generic Link Layermentioning

confidence: 99%

“…S2CR acoustic modems, considered in [4], implement a Ultra-Short Base Line (USBL) positioning system that can be used as the external positioning required by the Pixhawk. USBL positioning coordinates are transformed to geodesic coordinates and sent to the Pixhawk as a GPS INPUT type MavLink message.…”

Section: Bluerov Positioning Controlmentioning

confidence: 99%

“…However, UWSim-NET allows to adjust the Bit Error Rate (BER) depending on the separation of both modems, and this parameter will be adjusted in future experi0ments. The statistical model for the S2CR acoustical modems was extracted from previous results presented in [4]. The measurements consisted on a HIL teleoperation experiment with a Girona 500 HROV [20].…”

Section: Uwsim-netmentioning

confidence: 99%

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Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links

Centelles

Soriano

Marı́n

et al. 2020

J Intell Robot Syst

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Underwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper presents the architecture of an underwater wireless communication framework for the control of multiple semi-autonomous robots in cooperative interventions. The proposed framework is composed of several modules as the virtual reality interface using UWSim, the Underwater Multirobot Cooperative Intervention Remote Control Protocol (UMCI-RCP) and a Generic Link Layer (GLL). UMCI-RCP allows the control of an underwater robot over limited communication links. UMCI-RCP integrates a progressive compression algorithm that provides visual feedback at a constant rate and ensures image reception even in channels with loses. The Time Division Multiple Access (TDMA) medium access strategy minimizes the jitter of transmitted packets. The GLL has been designed in order to provide support for multimodal transmission (i.e. acoustic, RF and VLC) and also to interface with the UWSim-NET simulator so that facilitates the experimentation either with a real or with a simulated modem. The possibility of exchange real and simulated devices in the proposed framework are demonstrated by means of a teleoperation experiment with a BlueROV equipped with the S100 RF modems. Hardware-In-the-Loop (HIL) capabilities are demonstrated repeating the experiment with the real modems and modeling the BlueROV, and also modeling both the modems and the BlueROV.

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Section: Merbots and Twinbot Projectsmentioning

confidence: 99%

“…The implementation of the module for the S2CR acoustic modem is described in detail in [4]. The data link protocol used by these modems is D-MAC [14].…”

Section: Generic Link Layermentioning

confidence: 99%

Section: Bluerov Positioning Controlmentioning

confidence: 99%

Section: Uwsim-netmentioning

confidence: 99%

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