Survey on Autonomous Surface Vessels: Part II - Categorization of 60 Prototypes and Future Applications

Schiaretti, Matteo; Chen, Linying; Negenborn, Rudy R.

doi:10.1007/978-3-319-68496-3_16

Cited by 45 publications

(28 citation statements)

References 39 publications

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“…The research starts with a critical review of key surveys related to USVs and also DM [22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41], most focusing only on USVs, where a few vaguely focus on USVs for DM.…”

Section: Groundworkmentioning

confidence: 99%

“…Schiaretti et al present two sister papers, divided into parts A [37] & B [38] that focus on a clear classification of the levels of autonomy for USVs. Part A presents an approach which divides the autonomy problem of USVs into subsystems and corresponding scores: decision-making (1–10); action taking (1–10); exceptions handling (1–10); and cooperation subsystems.…”

Section: Groundworkmentioning

confidence: 99%

“…There are no surveys dedicated to USVs where the focus is on DM, demonstrating the novelty of this paper. This chart is organized in six categories:Disaster management [7,18,19,21,49,50,51]General surveys regarding USVs and unmanned systems [23,24,25,28,31,48]Guidance, Navigation and Control [22,26,29,32,33,35,36,39,40,47]Higher-level autonomy [37,38,46]Structure inspection [41,45]Environmental monitoring [30,42,43,44]…”

Section: Groundworkmentioning

confidence: 99%

See 2 more Smart Citations

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Jorge

Granada

Maidana

et al. 2019

Sensors

134

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Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, the research involving autonomous boats or Unmanned Surface Vehicles (USVs) for Disaster Management (DM) is currently spread across several publications, with varying degrees of depth, and focusing on more than one unmanned vehicle—usually under the umbrella of Unmanned Marine Vessels (UMV). Therefore, the current importance of USVs for the DM process in its different phases is not clear. This paper presents the first comprehensive survey about the applications and roles of USVs for DM, as far as we know. This work demonstrates that there are few current deployments in disaster scenarios, with most of the research in the area focusing on the technological aspects of USV hardware and software, such as Guidance Navigation and Control, and not focusing on their actual importance for DM. Finally, to guide future research, this paper also summarizes our own contributions, the lessons learned, guidelines, and research gaps.

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Section: Groundworkmentioning

confidence: 99%

Section: Groundworkmentioning

confidence: 99%

Section: Groundworkmentioning

confidence: 99%

See 1 more Smart Citation

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Jorge

Granada

Maidana

et al. 2019

Sensors

134

View full text Add to dashboard Cite

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“…These improvements will help autonomous mission control [ 12 , 13 ], data acquisition, and safety. Moreover, considering the most recent advances in the ASV field [ 14 , 15 , 16 , 17 , 18 , 19 , 20 ], the proposed topology is new.…”

Section: Introductionmentioning

confidence: 99%

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Regina

Honório

Pancoti

et al. 2021

Sensors

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Acoustic Doppler Current Profiler (ADCP) sensors measure water inflows and are essential to evaluate the Flow Curve (FC) of rivers. The FC is used to calibrate hydrological models responsible for planning the electrical dispatch of all power plants in several countries. Therefore, errors in those measures propagate to the final energy cost evaluation. One problem regarding this sensor is its positioning on the vessel. If placed on the bow, it becomes exposed to flowing obstacles, and if it is installed on the stern, the redirected water from the boat and its propulsion system change the sensor readings. To improve the sensor readings, this paper proposes the design of a catamaran-like Autonomous Surface Vessel (ASV) with an optimized hull design, aerial propulsion, and optimal sensor placement to keep them protected and precise, allowing inspections in critical areas such as ultra-shallow waters and mangroves.

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“…Several works in the literature deal with the theoretical idealisation and design of aided-navigation follow-theleader control systems (Caccia et al, 2008;Encarnação and Pascoal, 2001;Ghommam and Saad, 2018;Pettersen and Nijmeijer, 1998;Breivik et al, 2008;Xie et al, 2018;Bibuli et al, 2012;Chen et al, , 2018, but most of them remain simulation-based, and not fully-contextualized with real vessel dynamics and modelling. Amongst them, many parties work with experimental demonstration of the trustworthiness of the algorithms (Schiaretti et al, 2017b) but, in any case, only few presented results for follow-the-leader techniques (Bibuli et al, 2009;Zhang et al, 2019;Belleter et al, 2019). In particular, almost no model experiments in an outdoor GNSS-INS based navigation systems exist.…”

Section: Introductionmentioning

confidence: 99%

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Piaggio¹,

Garofano²,

Donnarumma³

et al. 2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented. A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario with model scale tugs. The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised path planning, guidance, and control sequence evaluation are dealt with at a remote ground station. In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys, and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for the tug master’s lucidity and alertness, while reducing avoidable risks. At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness of the proposed control logic.

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Survey on Autonomous Surface Vessels: Part II - Categorization of 60 Prototypes and Future Applications

Cited by 45 publications

References 39 publications

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

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