ATLANTIS - The Atlantic Testing Platform for Maritime Robotics

Pinto, Andry Maykol; Marques, Joao V. Amorim; Campos, Daniel; Abreu, Nuno; Matos, Anı́bal; Martio, Jussi; Berglund, Robin; Halme, Jari; Tikka, Petri; Formiga, João; Verrecchia, Christian; Langiano, Serena; Santos, Clara; Sa, Nuno; Stoker, Jaap-Jan; Calderoni, Fabrice; Govindaraj, Shashank; But, Alexandru; Gale, Leslie; Ribas, David; Hurtós, Natàlia; Vidal, Eduard; Ridao, Pere; Chieslak, Patryk; Palomeras, Narcís; Barberis, S.; Aceto, Luca

doi:10.23919/oceans44145.2021.9706059

Cited by 11 publications

(7 citation statements)

References 6 publications

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“…The Nautilus successfully completed all testing stages, engaging in four trials at the sites depicted in Figure 12, specifically, the ATLANTIS Test Center and Offshore Trials 1–3, each with varying distances to the shoreline. While TRLs were lower (up to 5), the ASV's performance underwent repeated testing at the ATLANTIS coastal test center (Pinto et al, 2023) situated in the port of Viana do Castelo, Portugal. During the Approval in Principle stage, first trial at the ATLANTIS Test Center, Nautilus reached TRL 6 showcasing its ability to operate in a relevant scenario.…”

Section: Results and Applicationmentioning

confidence: 99%

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

Campos,

Gonçalves,

Campos

et al. 2024

Journal of Field Robotics

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The increasing adoption of robotic solutions for inspection tasks in challenging environments is becoming increasingly prevalent, particularly in the offshore wind energy industry. This trend is driven by the critical need to safeguard the integrity and operational efficiency of offshore infrastructure. Consequently, the design of inspection vehicles must comply with rigorous requirements established by the offshore Operation and Maintenance (O&M) industry. This work presents the design of an autonomous surface vehicle (ASV), named Nautilus, specifically tailored to withstand the demanding conditions of offshore O&M scenarios. The design encompasses both hardware and software architectures, ensuring Nautilus's robustness and adaptability to the harsh maritime environment. It presents a compact hull capable of operating in moderate sea states (wave height up to 2.5 m), with a modular hardware and software architecture that is easily adapted to the mission requirements. It has a perception payload and communication system for edge and real‐time computing, communicates with a Shore Control Center and allows beyond visual line‐of‐sight operations. The Nautilus software architecture aims to provide the necessary flexibility for different mission requirements to offer a unified software architecture for O&M operations. Nautilus's capabilities were validated through the professional testing process of the ATLANTIS Test Center, involving operations in both near‐real and real‐world environments. This validation process culminated in Nautilus's reaching a Technology Readiness Level 8 and became the first ASV to execute autonomous tasks at a floating offshore wind farm located in the Atlantic.

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Section: Results and Applicationmentioning

confidence: 99%

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

Campos,

Gonçalves,

Campos

et al. 2024

Journal of Field Robotics

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“…Fig. 10 exhibits an example of a flipped sub-sequence (3,6). This Local Search method will be continuously seeking for an enhanced solution, as long as each of its approaches is able to find an improving solution at each iteration.…”

Section: ) Atsp-pl Formulationmentioning

confidence: 99%

“…Traditional methods for inspecting and monitoring diverse types of structures are often expensive, repetitive, time consuming and potentially dangerous for human operators [1]. To overcome this issue, several inspection tasks are currently being carried out by Unmanned Aerial Vehicles (UAVs) [2], [3], which represents a reduction of the inspection costs and of the total time consumed [4]. UAVs are autonomous aerial robots that can collect high quality data of structures [5], such as images (visual, thermal, among others) and point clouds.…”

Section: Introductionmentioning

confidence: 99%

Energy Efficient Path Planning for 3D Aerial Inspections

et al. 2023

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The use of Unmanned Aerial Vehicles (UAVs) in different inspection tasks is increasing. This technology reduces inspection costs and collects high quality data of distinct structures, including areas that are not easily accessible by human operators. However, the reduced energy available on the UAVs limits their flight endurance. To increase the autonomy of a single flight, it is important to optimize the path to be performed by the UAV, in terms of energy loss. Therefore, this work presents a novel formulation of the Travelling Salesman Problem (TSP) and a path planning algorithm that uses a UAV energy model to solve this optimization problem. The novel TSP formulation is defined as Asymmetric Travelling Salesman Problem with Precedence Loss (ATSP-PL), where the cost of moving the UAV depends on the previous position. The energy model relates each UAV movement with its energy consumption, while the path planning algorithm is focused on minimizing the energy loss of the UAV, ensuring that the structure is fully covered. The developed algorithm was tested in both simulated and real scenarios. The simulated experiments were performed with realistic models of wind turbines and a UAV, whereas the real experiments were performed with a real UAV and an illumination tower. The inspection paths generated presented improvements over 24% and 8%, when compared with other methods, for the simulated and real experiments, respectively, optimizing the energy consumption of the UAV.

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“…This provides a major boost in the exploration of new techniques for maritime robotics with works for depth completion [22], [23], object recognition [24] and classification [25], obstacle detection [26] and the expansion of sensor capabilities [27]. Also, with the appearance of test beds, like the proposed on the ATLANTIS Test Center [28], its expected to increase the data availability and variability, strengthening the research for offshore inspection and improve the vehicles situational awareness.…”

Section: Related Workmentioning

confidence: 99%

Modular Multi-Domain Aware Autonomous Surface Vehicle for Inspection

2022

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A growing interest in ocean exploration for scientific and commercial research has been shown, mainly due to the technological developments for maritime and offshore industries. The use of Autonomous surface vehicles (ASV) have a promising role to revolutionize the transportation, monitorization, operation and maintenance areas, allowing to perform distinct task from offshore assets inspection to harbor patrolling. This work presents SENSE, an autonomouS vEssel for multi-domaiN inSpection and maintEnance. It provides an open-source hardware and software architecture that is easy to replicate for both research institutes and industry. This is a multi-purpose vehicle capable of acquiring multi-domain data for inspecting and reconstructing maritime infrastructures. SENSE provides a research platform which can increase the situational awareness capabilities for ASVs. SENSE full configuration provides multimodal sensory data acquired from both domains using a Light Detection And Ranging (LiDAR), a stereoscopic camera, and a multibeam echosounder. In addition, it supplies navigation information obtained from a real-time kinematic satellite navigation system and inertial measurement units. Moreover, the tests performed at the harbor of Marina de Leça, at Porto, Portugal, resulted in a dataset which captures a fully operational harbor. It illustrates several conditions on maritime scenarios, such as undocking and docking examples, crossings with other vehicles and distinct types of moored vessels. The data available represents both domains of the maritime scenario, being the first public dataset acquired for multi-domain observation using a single vehicle. This paper also provides examples of applications for navigation and inspection on multi-domain scenarios, such as odometry estimation, bathymetric surveying and multi-domain mapping.INDEX TERMS Maritime robotics, 3D perception, heterogeneous sensors, maritime dataset, multi-domain data.

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ATLANTIS - The Atlantic Testing Platform for Maritime Robotics

Cited by 11 publications

References 6 publications

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

Nautilus: An autonomous surface vehicle with a multilayer software architecture for offshore inspection

Energy Efficient Path Planning for 3D Aerial Inspections

Modular Multi-Domain Aware Autonomous Surface Vehicle for Inspection

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