The MEDUSA class of autonomous marine vehicles and their role in EU projects

Abreu, Pedro; Botelho, Joao; Góis, Pedro M. P.; Pascoal, António; Ribeiro, Jorge Tavares; Ribeiro, Miguel; Rufino, Marta M.; Sebastião, Luís; Silva, Henrique

doi:10.1109/oceansap.2016.7485620

Cited by 36 publications

(25 citation statements)

References 7 publications

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“…With an extension to a 3D scenario, another study presents simulation and experimental results for 3D distributed plume tracking with a group of land and air robots measuring odor concentration in a wind tunnel [12]. In [44], the authors simulated a group of MEDUSA class of marine vehicles [45] measuring conductivity in a fresh water stream. These works [12,44] use integration of three behaviors: upstream movement, plume centering, and Laplacian feedback formation control.…”

Section: Wind Detection (Anemotaxis)mentioning

confidence: 99%

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Bayat

Crasta

Crespi

et al. 2017

Current Opinion in Biotechnology

139

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Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of performing demanding tasks in harsh environments without human supervision. In this task, the aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles.

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Section: Wind Detection (Anemotaxis)mentioning

confidence: 99%

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Bayat

Crasta

Crespi

et al. 2017

Current Opinion in Biotechnology

139

View full text Add to dashboard Cite

show abstract

“…During the Lisbon experiment, the DAVS was mounted on the MEDUSA class AUV 18 , provided by ISR/IST, University of Lisbon. A photo of the MEDUSA during the experiment with the DAVS mounted beneath the AUV at approximately 0.5 m depth is presented in Fig.…”

Section: B Lisbon Field Testmentioning

confidence: 99%

“…The second test took place in the Oceanarium marina shallow pond, Lisbon (Portugal), where the main objective was to test the response of DAVS directivity and to present experimental results on the estimation of azimuthal directions when the DAVS was in motion and attached to an AUV. Signals in the 1-2 kHz band were emitted by a Lubell 916C source deployed at 1.5 m depth and acquired by the DAVS mounted on a MEDUSA class AUV, developed by ISR/IST, Lisbon (Portugal), which was following a pre-programed path with a 0.26 m/s nominal speed 18 . The azimuth estimates are coherent with the MEDUSA trajectories even in curved paths where the thruster's noise increases.…”

Section: Introductionmentioning

confidence: 99%

Dual accelerometer vector sensor mounted on an autonomous underwater vehicle (AUV) - Experimental results

Santos¹,

Felisberto²,

Zabel³

et al. 2017

Proceedings of Meetings on Acoustics

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“…A research group from Massachusetts Institute of Technology (MIT) proposed a navigation method that uses multiple autonomous surface vehicles (ASVs), and have studied cooperation between ASVs and AUVs. The methods regarding supporting ASVs for navigation of AUVs have been proposed …”

Section: Introductionmentioning

confidence: 99%

“…The methods regarding supporting ASVs for navigation of AUVs have been proposed. [21][22][23] This paper is organized as follows. The method is explained in Section 2.…”

Section: Introductionmentioning

confidence: 99%

Alternating landmark navigation of multiple AUVs for wide seafloor survey: Field experiment and performance verification

Matsuda

Maki

Sato

et al. 2017

Journal of Field Robotics

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This paper reports the results of the sea experiments and the performance verification of a navigation method for wide area surveys of the seafloor using multiple autonomous underwater and "Tri-TON." The performance of the method was verified using these AUVs through sea experiments and postprocessing simulation using experimental data. In addition, it was also verified that the performance of the method is comparable to high-grade conventional navigation methods, such as LBL or SSBL, through simulations of long distance navigation.

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The MEDUSA class of autonomous marine vehicles and their role in EU projects

Cited by 36 publications

References 7 publications

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Dual accelerometer vector sensor mounted on an autonomous underwater vehicle (AUV) - Experimental results

Alternating landmark navigation of multiple AUVs for wide seafloor survey: Field experiment and performance verification

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