Using optical communication for remote underwater robot operation

Doniec, Marek; Detweiler, Carrick; Vasilescu, Iuliu; Rus, Daniela

doi:10.1109/iros.2010.5650224

Cited by 49 publications

(26 citation statements)

References 11 publications

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“…In addition, our high-bandwidth low-latency streaming solution plays a critical role in diverse underwater robotic applications, such as dexterous operations using Remotely Operated Vehicles (ROV ), real-time tele control in narrow caves and shipwreck settings, and off-board visual autonomous navigation setups. The presented video streaming solution further complements our previous work, which demonstrated wireless remote control of an underwa ter vehicle using free-space optical communication [13].…”

Section: Introductionsupporting

confidence: 65%

Robust real-time underwater digital video streaming using optical communication

Doniec

Rus

2013

2013 IEEE International Conference on Robotics and Automation

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Section: Introductionsupporting

confidence: 65%

Robust real-time underwater digital video streaming using optical communication

Doniec

Rus

2013

2013 IEEE International Conference on Robotics and Automation

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“…Transmissions at extremely low frequencies (ELF, 30-300 Hz) can propagate through conductive seawater, and are commonly used for communications by US Navy submarines [113], however transmission at these frequency bands requires large antennas and high power, making it impractical for use by small autonomous vehicles. Optical communications using lasers or LEDs have also been considered for high-bandwidth underwater communications [137] and can offer high throughput in certain conditions (several Mbits/sec at ranges up to 100-200 m [65,76,77,130]), however optical links are affected by high scattering due to particles in the water and have limited range. They are also challenged by ambient light in shallow water operations.…”

Section: Underwater Communicationsmentioning

confidence: 99%

Controller design for underwater vehicle systems with communication constraints

Reed¹

2015

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Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater, communication over distances beyond about one hundred meters is almost exclusively accomplished through acoustics, which bring challenges such as propagation delays, low data rates, packet loss, and scheduling constraints due to interference and limited bandwidth. These limitations make underwater pursuit missions preeminent applications of networked control. Motivated by such applications, this thesis presents contributions towards multi-vehicle feedback control in the presence of severe communication constraints.The first major area of work considers the formulation and solution of new underwater multi-vehicle tracking and pursuit problems using closed-loop control. We begin with a centralized robust optimization approach for multicast routing and power control which is suitable for integration with vehicle control. Next, we describe field experiments in range-based target pursuit at high tracking bandwidths in a challenging shallow-water environment. Finally, we present a methodology for pursuit of dynamic ocean features such as fronts, which we validate using hindcast ocean model data. The primary innovation is a projection algorithm which carries out linearization of ocean model forecast dynamics and uncertainty directly in vehicle coordinates via a forward model technique. The resulting coupled linear stochastic system is suitable for networked control.The second area of work presents a unified formalism for multi-vehicle control and estimation with measurement, control, and acknowledgment packets all subject to scheduling, delays and packet loss. The modular framework we develop is built around a jump linear system description incorporating receding horizon optimization and buffering at actuators. Integration of these elements enables synthesis of a novel technique for estimation using delayed and lossy control acknowledgments-a desirable and practical capability of fielded systems that has not been considered to date.Simulations and field experiments demonstrate the effectiveness of our approach.

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“…These channels have very limited bandwidth with throughput on the order of tens of bytes per second depending on range, packet size, other uses of the channel (for instance, navigation sensors), and latencies due to the speed of sound in water [4], [5]. While much higher data rates have been achieved using underwater optical modems for vehicle control [6] and two-way communication [7], these systems are limited to ranges on the order of 100 meters and are inadequate for long-range communication [8]. In the absence of missiontime operator feedback, an AUV must either navigate along a preprogrammed course or use the data it collects to alter its behavior.…”

Section: Related Work a Underwater Communicationsmentioning

confidence: 99%

Visual summaries for low-bandwidth semantic mapping with autonomous underwater vehicles

Kaeli

Leonard

Singh

2014

2014 IEEE/OES Autonomous Underwater Vehicles (AUV)

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Abstract-A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical missions can generate imagery at rates orders of magnitude greater than highly compressed images can be transmitted acoustically, delaying that understanding until after the robot has been recovered and the data analyzed. We present modifications to state-of-the-art online visual summary techniques that enable an autonomous robot to select representative images to be compressed and transmitted acoustically to the surface ship. These transmitted images then serve as the basis for a semantic map which, combined with scalar navigation data and classification masks, can provide an operator with a visual understanding of the survey environment while a mission is still underway.

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Using optical communication for remote underwater robot operation

Cited by 49 publications

References 11 publications

Robust real-time underwater digital video streaming using optical communication

Robust real-time underwater digital video streaming using optical communication

Controller design for underwater vehicle systems with communication constraints

Visual summaries for low-bandwidth semantic mapping with autonomous underwater vehicles

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