Experimental testing of a cooperative ASV-ROV multi-agent system

Conte, G.; Scaradozzi, David; Mannocchi, Daniele; Raspa, Paolo; Panebianco, Luca; Screpanti, Laura

doi:10.1016/j.ifacol.2016.10.428

Cited by 9 publications

(5 citation statements)

References 9 publications

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“…An emerging area of research is the development of hybrid systems where different types of robots are combined onto a single platform and work in unison to perform complicated tasks 85 . For instance, Conte et al 86 have proposed a cooperative platform consisting of an ASV that can launch an ROV. Experimental results show that the ROV can autonomously navigate and track a target and send continuous video stream to the ASV.…”

Section: Potential Areas Of Researchmentioning

confidence: 99%

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

et al. 2022

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Marine operations required to transfer technicians and equipment represent a significant proportion of the total cost of offshore wind. The profile of sites being considered for floating offshore wind farms (FOWFs), e.g., further from the shore and in harsher environments, indicates that these costs need to be assessed by taking into account the maintenance requirements and restricted weather windows. There is an immediate need to investigate the potential use of robotic systems in the wind farm's operations and maintenance (O&M) activities, to reduce the need for costly manned visits. The use of robotic systems can be critical, not only to replace repetitive activities and bring down the levelised cost of energy but also to reduce the health and safety risks by supporting human operators in performing the desired inspections.This paper provides a review of the state of the art in the applications of robotics for O&M of FOWFs. Emerging technology trends and associated challenges and opportunities are highlighted, followed by an outline of the agenda for future research in this domain.

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Section: Potential Areas Of Researchmentioning

confidence: 99%

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

et al. 2022

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“…In recent years, to expand the range of activities of ROVs, attention has been focused on a cooperative system between ROVs and autonomous surface vehicles (ASVs), (5)(6)(7)(8)(9)(10)(11) in which an autonomous vessel and an ROV are connected by a tether cable. The autonomous vessel relays between the ROV and the base station to enable underwater observations by ROVs in areas far from the base station.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning Strategies and Simulation for Autonomous-surface-vehicle–Remotely-operated-vehicle (ASV–ROV) Cooperative System

Morinaga¹,

Yamamoto²

2023

Sensors and Materials

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With the increase in the number of offshore power generation facilities and aquaculture ponds, demand for remotely operated vehicles (ROVs) to inspect underwater structures and conduct ecological surveys is increasing. Because ROVs are connected to a ground station on the water by a tether cable to enable the transmission of operating commands and images underwater, where radio communication is difficult, they can only operate within the range of the tether cable. To expand the operational range of ROVs, an autonomous surface vehicle (ASV)-ROV cooperative system, in which a tether cable is connected to an ASV and radio waves are used for remote operation from the autonomous vessel, is attracting attention. In a cooperative system, the tether cable must be managed on the ASV side, and the position and cable length of the ASV must be controlled to prevent the cable from pulling against or tangling with the ROV, which moves around underwater under the command of a human controller. We propose a method of controlling the position and cable length of the ASV using the information on the position of the ROV obtained from an underwater positioning device for an ASV-ROV cooperative system that we are also developing. In addition, we confirmed through simulations that the ASV and cable length follow target values even when the ROV moves along a complicated path.

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“…In recent years, due to the advent of the era of big data and the rapid development of computer graphics cards, the computing power of computers has also improved, which has accelerated the development of artificial intelligence in the computer field. There are more and more studies related to artificial intelligence, for example, the research in [1][2][3][4] has good application value, and the research of object detection has also developed accordingly.…”

Section: Introductionmentioning

confidence: 99%

An Improved YOLOv5s Algorithm for Object Detection with an Attention Mechanism

Jiang

Yang

et al. 2022

Electronics

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To improve the accuracy of the You Only Look Once v5s (YOLOv5s) algorithm for object detection, this paper proposes an improved YOLOv5s algorithm, CBAM-YOLOv5s, which introduces an attention mechanism. A convolutional block attention module (CBAM) is incorporated into the YOLOv5s backbone network to improve its feature extraction ability. Furthermore, the complete intersection-over-union (CIoU) loss is used as the object bounding-box regression loss function to accelerate the speed of the regression process. Experiments are carried out on the Pascal Visual Object Classes 2007 (VOC2007) dataset and the Microsoft Common Objects in Context (COCO2014) dataset, which are widely used for object detection evaluations. On the VOC2007 dataset, the experimental results show that compared with those of the original YOLOv5s algorithm, the precision, recall and mean average precision (mAP) of the CBAM-YOLOv5s algorithm are improved by 4.52%, 1.18% and 3.09%, respectively. On the COCO2014 dataset, compared with the original YOLOv5s algorithm, the precision, recall and mAP of the CBAM-YOLOv5s algorithm are increased by 2.21%, 0.88% and 1.39%, respectively.

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Experimental testing of a cooperative ASV-ROV multi-agent system

Cited by 9 publications

References 9 publications

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

Trajectory Planning Strategies and Simulation for Autonomous-surface-vehicle–Remotely-operated-vehicle (ASV–ROV) Cooperative System

An Improved YOLOv5s Algorithm for Object Detection with an Attention Mechanism

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