ISME activity on the use of Autonomous Surface and Underwater Vehicles for acoustic surveys at sea

Antonelli, Gianluca; Arrichiello, Filippo; Caiti, Andrea; Casalino, Giuseppe; Palma, Daniela De; Indiveri, Giovanni; Razzanelli, Matteo; Pollini, Lorenzo; Simetti, Enrico

doi:10.21014/acta_imeko.v7i2.539

Cited by 9 publications

(6 citation statements)

References 7 publications

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“…The final experiment consisted of a 2 h and 15 min long survey in the open sea, covering an area of approximately 100 ×200 m just outside the Sines harbor. The fleet of robots that was employed in the experiment was the following one: DELFIM (ASV) (Alves et al, 2006), acting as a formation leader, carrying a sparker, and acting as a navigation anchor, performing CPF with ULISSE. ULISSE (ASV) (Antonelli et al, 2018), carrying a sparker and performing CPF with DELFIM. MBLACK (Medusa ASV Abreu, Botelho, et al, 2016), acting as a navigation anchor, tracking the formation leader. MRED and MYELLOW (Medusa AUVs), F1 and F2 (Folaga AUVs Alvarez et al, 2009), each of them tracking the formation leader, towing streamers, and acquiring seismic data.…”

Section: Autonomous Geotechnical Survey In Open Sea: Field Resultsmentioning

confidence: 99%

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Simetti

Indiveri²,

Pascoal

2020

Journal of Field Robotics

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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 are also discussed. Finally, field results of the final survey campaign carried out in the Atlantic Ocean are presented, demonstrating how a team of seven robots could autonomously conduct a geotechnical survey, producing seismic images without artifacts.

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Section: Autonomous Geotechnical Survey In Open Sea: Field Resultsmentioning

confidence: 99%

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Simetti

Indiveri²,

Pascoal

2020

Journal of Field Robotics

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“…A full survey was carried out by the WiMUST team including seven vehicles. The fleet included the ULISSE [5] and Delfim autonomous catamarans, three Medusas [1] and two Folagas [6] autonomous underwater vehicles (see Fig. 1).…”

Section: Results: the Wimust Trialsmentioning

confidence: 99%

Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

Volpi

Smith

Pascoal

et al. 2018

OCEANS 2018 MTS/IEEE Charleston

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There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research.WiMUST uses a team of cooperative autonomous marine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicating nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely automatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring intervehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.

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“…Localization is one of the most important basic abilities for an autonomous vehicle to perform autonomously a wide number of tasks (Ferri et al, 2017 ; Simetti et al, 2017 ; Antonelli et al, 2018 ), so that an accurate and reliable localization algorithm is a key practical tool for the success of mission in many applications of underwater robotics.…”

Section: Introductionmentioning

confidence: 99%

“…The research activity reported in this paper stems from the above considerations and is strongly inspired by the experience gained within a European project (Antonelli et al, 2018 ). The goal is to extend the preliminary results achieved by the same authors in De Palma et al ( 2015 ) and De Palma et al ( 2019 ) as follows.…”

Section: Introductionmentioning

confidence: 99%

Control Protocols for Range-Based Navigation of a Networked Group of Underwater Vehicles

Palma

Indiveri²,

Parlangeli

2020

Front. Robot. AI

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This paper tackles the problem of formation reconstruction for a team of vehicles based on the knowledge of the range between agents of a subset of the participants. One main peculiarity of the proposed approach is that the relative velocity between agents, which is a fundamental data to solve the problem, is not assumed to be known in advance neither directly communicated. For the purpose of estimating this quantity, a collaborative control protocol is designed in order to mount the velocity data in the motion of each vehicle as a parameter through a dedicated control protocol, so that it can be inferred from the motion of the neighbor agents. Moreover, some suitable geometrical constraints related to the agents' relative positions are built and explicitly taken into account in the estimation framework providing a more accurate estimate. The issue of the presence of delays in the transmitted signals is also studied and two possible solutions are provided explaining how it is possible to get a reasonable range data exchange to get the solution both in a centralized fashion and in a decentralized one. Numerical examples are presented corroborating the validity of the proposed approach.

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ISME activity on the use of Autonomous Surface and Underwater Vehicles for acoustic surveys at sea

Cited by 9 publications

References 7 publications

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

Control Protocols for Range-Based Navigation of a Networked Group of Underwater Vehicles

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