Modeling and control of a low-cost ASV

Conte, G.; Capua, Graziano Pio De; Scaradozzi, David

doi:10.3182/20120919-3-it-2046.00073

Cited by 9 publications

(9 citation statements)

References 12 publications

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“…Following the approach outlined in (Allotta et al, 2015c), (Allotta et al, 2015d), (Conte et al, 2012), the first instances of the Rummu quarry survey operations had the primary goal of detecting those regions of the seabed that featured substantial clues for the presence of interesting objects. By using AUVs, acoustic positioning systems and improved photo-cameras, it has been possible to obtain, in addition to 2D mosaics of the inspected area (Martin et al, 2002), (Pizarro et al, 2003), (Ludvigsen et al, 2007), a very precise geo-referenced map or 3D geo-referenced reconstruction of large areas of the seabed.…”

Section: Optical Data Processed For 3d Reconstructionmentioning

confidence: 99%

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

Allotta

Costanzi

Mugnai

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Autonomous Underwater Vehicles (AUVs), benefiting from significant investments in the past years, are commonly used for military security and offshore Oil&Gas applications. The ARROWS project 1 , aimed at exporting the AUV technology to the field of underwater archaeology, a low-budget research field compared to the previous ones. The paper focuses on the strategy for vehicle coordination adopted within the project, a Search and Inspection (S&I) approach borrowed from the defense field (e.g., mine countermeasure -MCM) that proved to be an efficient solution also for the main phases of an underwater archaeological mission. The other main novelty aspect is represented by MARTA (MArine Robotic Tool for Archaeology) AUV: it is a modular vehicle easily and quickly reconfigurable developed in the framework of ARROWS according to the project Archaeological Advisory Group (AAG) guidelines. Results from the final demonstration of the project, held in Estonia during Summer 2015, are proposed in the paper as an experimental proof of the validity of the proposed S&I strategy, and MARTA functioning and its adaptability to the mission requirements. Even in its first prototype version, MARTA successfully played the Inspection role within the AUV team, collaborating with a commercial Search AUV. Acoustic and optical data collected during the mission and processed to increase their intelligibility for the human operator are proposed and discussed.

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Section: Optical Data Processed For 3d Reconstructionmentioning

confidence: 99%

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

Allotta

Costanzi

Mugnai

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…These components, or very similar ones, are easily found at reasonable price on the nautical market. The underlying dynamic model of the resulting vehicle has been studied and described [8].…”

Section: ιι Structure Of the Ngc Systemmentioning

confidence: 99%

“…10. The NGC system aims at aligning, by moving along a curved path, the ASV with the direction of the Basic coefficients of the PID controllers have been determined using the model of the boat described in [8]. Distance from the target position is evaluated taking into account a suitable dead-zone, in order to avoid chattering behavior of the rudder control when the ASV is close to the target point and to stop in its vicinity, with a desired accuracy.…”

Section: Simulation Test and Validationmentioning

confidence: 99%

ROS multi-agent structure for autonomous surface vehicles

Conte

Scaradozzi

Sorbi

et al. 2015

OCEANS 2015 - Genova

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This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and a microcontroller. This hybrid hardware architecture has the advantage of providing high computational capability and easy interfacing with sensors and actuators. Some results about testing and validating the NGC system are presented and discussed.

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“…In [7], Conte et al tackle the problem of modeling and simulating Home Automation Systems (HAS) by applying the Multiple Agent Systems (MAS) theory [8]. They start from a formal theory of Home Automation Systems [9], based on the MAS theory and construct an environment for simulation and emulation of HAS. On top of this theory, Conte et al define performance indicators for paradigmatic control strategies allowing to simulate and analyze the effects caused by control parameters variations on the control overall performance.…”

Section: Related Workmentioning

confidence: 99%

“…Second, DogSim is designed to provide a validation and simulation framework on top of which specific aspects of IDE control and intelligence can be investigated; in this sense the approach of DogSim is compatible and complementary with Conte's work. Finally, in the approach presented in [9] the formal model of the HAS does not take into account the environment configuration nor the functionalities of real-world domotic plants, which in most cases are much simpler than the domotic agents they define. Moreover the MAS model they define does not provide easy to exploit mechanisms for reasoning on the environment configuration and state, thus limiting the kind of applicable intelligent behaviors.…”

Section: Related Workmentioning

confidence: 99%

Modeling, simulation and emulation of Intelligent Domotic Environments

Bonino

Corno

2011

Automation in Construction

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Intelligent Domotic Environments are a promising approach, based on semantic models and commercially off the shelf domotic technologies, to realize new buildings that provide users with increased care, adaptability and safety. Intelligent buildings exhibit complex behaviors and are composed of various subsystems, and of many layers and components: such complexity requires innovative design methodologies and tools for ensuring correctness and effectiveness. Therefore suitable simulation and emulation approaches must be adopted, and tools must be provided, to allow architects and designers to experiment with their ideas and to incrementally verify the effects of designed policies. Incremental design and implementation of new strategies or new functionalities requires a validation scenario where the environment is partly emulated and partly composed of real devices. This paper describes a framework, which exploits UML2.0 state diagrams for automatic generation of device simulators from ontology-based descriptions of domotic environments. The device models are managed by the DogSim simulator, that may either simulate a complete building automation system in software, or may be integrated inside the Domotic OSGi Gateway (Dog) as a new emulation driver (EmuDog), allowing partial simulation of virtual devices alongside with actual interface to real devices. The proposed approach has been tested both on a synthetic 6-room flat equipped with 120 devices and on a real home comprising 3 flats located in northern Italy. Synthetic and real experiments show that the approach is feasible and can easily address both simulation and emulation, thus supporting incremental design and validation of home automation policies in realistic home scenarios.

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Modeling and control of a low-cost ASV

Cited by 9 publications

References 12 publications

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT

ROS multi-agent structure for autonomous surface vehicles

Modeling, simulation and emulation of Intelligent Domotic Environments

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