ε*+: An Online Coverage Path Planning Algorithm for Energy-constrained Autonomous Vehicles
Zongyuan Shen, University of Connecticut
James Wilson, University of Connecticut
Shalabh Gupta, University of Connecticut

Keywords: Coverage path planning;energy-constrained vehicles;recharging;real-time path planning;autonomous vehicles

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3-Dimensional Hydrothermal Vent Localization Based on Chemical Plume Tracing
Lingxiao Wang, Embry-Riddle Aeronautical University
Shuo Pang, Embry-Riddle Aeronautical University
Guangyu Xu, University of Washington

Keywords: Chemical plume tracing; Autonomous underwater vehicle; Hydrothermal vent localization; Simulation

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A Cascade Approach for Stability Control of Supercavitating Vehicle
xinhua Zhao, Harbin Engineering University

Keywords: cascade approach, supercavitating vehicle, sliding mode, backstepping control

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A Configurable Solid Sampling System for AUV/ROV Icefin
Frances Bryson, Georgia Institute of Technology
Matthew Meister, Georgia Institute of Technology
Daniel Dicheck, Georgia Institute of Technology
Andrew Mullen, Georgia Institute of Technology
Benjamin Hurwitz, Georgia Institute of Technology
Justin Lawrence, Georgia Institute of Technology
Anthony Spears, Georgia Institute of Technology
Peter Washam, Georgia Institute of Technology
Enrica Quartini, Georgia Institute of Technology
Laura Kassabian, Georgia Institute of Technology
Sebastian Lopez, Georgia Institute of Technology
Britney Schmidt, Georgia Institute of Technology

Keywords: sample handling; manipulator arm; robotic sampling; underwater vehicle; Antarctica; sediment soil sampling; lightweight vehicle manipulator system; prototypes, under-ice; sub-ice deployments

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A method of formation transforming for multi-UUVs with autonomous choosing function
Pengfu Ding, Systems Engineering Research Institute of CSSC
Yibo Liu, Systems Engineering Research Institute of CSSC
Tianhao Wang, Systems Engineering Research Institute of CSSC

Keywords: multi-UUVs; autonomous determine strategy; formation transforming; consensus theory

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AUV Visual Docking Control on a Moving Station Using a Cross-Tracking Approach with Unscented Kalman Filtering
Chenyi Bian, School of Marine Science and Technology, Northwestern Polytechnical University
Jian Gao, School of Marine Science and Technology, Northwestern Polytechnical University
Bo Yang, AVIC Xi'an Aeronautics Computing
Weisheng Yan, Northwestern Polytechnical University
Xiaomin Liang, Northwestern Polytechnical University
Dongwei Wu, Northwestern Polytechnical University

Keywords: Autonomous underwater vehicle (AUV);visual docking system;unscented Kalman filterer (UKF);cross-tracking

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AUV docking control based on stochastic model predictive control
Zheping Yan, Harbin Engineering University
Peng Gong, Harbin Engineering University
Wei Zhang, Harbin Engineering University
Wenhua Wu, Harbin Engineering University
Saibo Gao, Harbin Engineering University

Keywords: AUV;unmodeled dynamics;stochastic model predictive control (SMPC);docking control

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Adaptive Environmental Sampling for Underwater Vehicles Based on Ant Colony Optimization Algorithm
Yichen Hu, College of Information Science and Electronic Engineering, Zhejiang University
Danrong Wang, College of Information Science and Electronic Engineering, Zhejiang University
Jianlong Li, College of Information Science and Electronic Engineering, Zhejiang University
Ye Wang, College of Information Science and Electronic Engineering, Zhejiang University
Hui Shen, Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhejiang University

Keywords: adaptive sampling; ant colony algorithm; path planning; temperature field; high resolution multistage spectral interpolation

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Adaptive Fuzzy PID Controller for A Compact Autonomous Underwater Vehicle
Avilash Sahoo, IIT Guwahati
Santosha Dwivedy, IIT GUWAHATI
P Robi, IIT GUWAHATI

Keywords: Autonomous Underwater Vehicle (AUV), Line-Of-Sight (LOS), Fuzzy-PID, PID, Trajectory Tracking

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An AUV Cooperative Target Localisation Strategy with Bearing-Only Measurements Based on Bayesian Occupancy Grid Mapping
Gabriele Ferri, NATO CMRE
Pietro Stinco, NATO CMRE
Alessandra Tesei, NATO CMRE
Kevin LePage, NATO CMRE

Keywords: Cooperative Autonomy; Adaptive Behaviour; Occupancy Grid Mapping; Bearing-Only Tracking; Robotic Networks

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Autonomous Obstacle Avoidance Control for Multi-UUVs Based on Multi-beam Sonars
Yibo Liu, Systems Engineering Research Institute of CSSC
Pengfu Ding, Systems Engineering Research Institute of CSSC
Tianhao Wang, Systems Engineering Research Institute of CSSC

Keywords: multi-UUVs;obstacle avoidance; multi-beam sonars; artificial potential field method

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Autonomous exploration and 3-D mapping of underwater caves with the human-portable SUNFISH® AUV
Kristof Richmond, Sunfish, Inc.
Chris Flesher, Stone Aerospace, Inc.
Neal Tanner, Sunfish, Inc.
Vickie Siegel, Stone Aerospace, Inc.
William Stone, Sunfish, Inc.

Keywords: AUV; hovering; SLAM; exploration; 6-DOF control; multibeam; Hudson Grotto; Seal Cove; Dragon's Breath; Namibia; cave diving

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Comparative analysis of EKF and Particle Filter performance for an acoustic tracking system exploiting bearing-only measurements
Giovanni Peralta, Dipartimento di Ingegneria dell'Informazione - Universitą di Pisa
Matteo Bresciani, Dipartimento di Ingegneria dell'Informazione - Universitą di Pisa
Riccardo Costanzi, Dipartimento di Ingegneria dell'Informazione and Centro di Ricerca di Ricerca "E. Piaggio" - Universitą di Pisa and ISME
Vincenzo Manzari, Naval Experimentation and Support Centre of Italian Navy (CSSN)
Daniele Terracciano, Naval Experimentation and Support Centre of Italian Navy (CSSN)
Andrea Caiti, Dipartimento di Ingegneria dell'Informazione and Centro di Ricerca di Ricerca "E. Piaggio" - Universitą di Pisa and ISME

Keywords: Kalman filter; Particle filter; Autonomous Underwater Vehicles; Acoustic tracking system; Bearing-only measurements; Acoustic Modems; USBL

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Comparison of AI Planning frameworks for underwater intervention drones
Libo Xue, Norwegian University of Science and Technology
Anastasios Lekkas, Norwegian University of Science and Technology

Keywords: AI planning; underwater robotics; subsea operations; T-REX; ROSPlan; autonomy

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Control of a vectorial propulsion underwater vehicle with thruster hydrodynamics constraints and actuator saturation
Jagadeesh Kadiyam, Indian Institute of Technology Indore
Santhakumar Mohan, Indian Institute of Technology Palakkad
Devendra Deshmukh, Indian Institute of Technology Indore

Keywords: Vectorial propulsion; rotatable/tiltable/pivoted thruster; over-actuated system; Backstepping; actuator saturation; hydrodynamics constraints

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Coordinated Control for Multiple Autonomous Underwater Vehicles Recovery System with Time Delay
Wei Zhang, Harbin Engineering University
Jia Zeng, Harbin Engineering University
Zheping Yan, Harbin Engineering University
Weida Tian, Harbin Engineering University
Yu Zhang, Harbin Engineering University

Keywords: Multiple AUVs; Recovery System; Coordinated Control; Time Delay

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Coverage Path Planning Based on Improved Exact Cellular Decomposition Method in Ocean Survey
Guanzhong Chen, Ocean University of China
Yue Shen, Ocean University of China
Xiangyang Duan, Ocean University of China
Junhe Wan, Ocean University of China
Tianhong Yan, School of Mechanical Electrical Engineering, China Jiliang University
Bo He, Oceans University of China

Keywords: Coverage Path Planning; Improved Exact Cellular Decomposition; Differential Evolution; Optimal Path

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Crack Detection and Localization with Real-Time Path Tracking using Stereo Vision for Autonomous Underwater Welding
Vipul Garg, Delhi Technological University
Tript Sharma, Delhi Technological University
Talvinder Singh, Delhi Technological University
Vikas Rastogi, Delhi Technological University

Keywords: localization; path tracking; computer vision; trajectory generation; manipulation

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Designing a Universal Control Modul for Unmanned Underwater Vehicles
Thilo Müller, University of Rostock
Jonas Pabst, University of Rostock
Torsten Jeinsch, University of Rostock

Keywords: UUV; ROV; Control Design; Feedback Linearization

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Development of Autonomous Subsea Pipeline Inspection Capabilities
Alexander Rumson, Sulmara Subsea

Keywords: Automation; Inspection; Marine Robotics; Underwater structures; Unmanned underwater technology; Underwater vehicles

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Development of Biomimetic Fin-Type Amphibious Robot for Precise Path Following Missions
Seokyong Song, Pohang University of Science and Technology (POSTECH)
Juhwan Kim, Pohang University of Science and Technology (POSTECH)
Taesik Kim, Pohang University of Science and Technology (POSTECH)
Sehwan Rho, Pohang University of Science and Technology (POSTECH)
Son-Cheol Yu, Pohang University of Science and Technology (POSTECH)

Keywords: biomimetic underwater vehicle; underwater hexapod robot; oscillating fin thruster

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Development of a Long Range Autonomous Underwater Vehicle for Ocean Observation
Jixu Li, Shenyang Institute of Automation, Chinese Academy of Sciences
Tiejun Liu, Shenyang Institute of Automation, Chinese Academy of Sciences
Deyong Yu, Shenyang Institute of Automation, Chinese Academy of Sciences
Xingya Yan, Shenyang Institute of Automation, Chinese Academy of Sciences
Tianzhu Gao, Shenyang Institute of Automation, Chinese Academy of Sciences

Keywords: Long Range, Explorer 1000 AUV

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Development of a Velocity Prediction Program for a high performance eco sustainable SKIFF sailing yacht
Fabio Beltrame, Politecnico di Torino
Lorenzo Liboą, Politecnico di Torino
Andrea Ruggeri, Politecnico di Torino
Giovanni Bracco, Politecnico di Torino
Giuliana Mattiazzo, Politecnico di Torino

Keywords: Velocity Prediction Program ; performance optimization ; sustainable SKIFF design ; sailing yacht

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Development of a low cost remotely operated vehicle for monitoring underwater marine environment
Krupali Gawas, Padre Conceicao College of Engineering
Shailesh Khanolkar, Padre Conceicao College of Engineering
Esther Pereira, Padre Conceicao College of Engineering
Mahzabeen Naaz, Padre Conceicao College of Engineering
Myron Rego, Padre Conceicao College of Engineering
Enrich Braz, Padre Conceicao College of Engineering

Keywords: marine ecosystem, water pollution, remotely operated vehicle, sensors

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Enabling Interoperability among Disparate Unmanned Vehicles via Coordinated Command, Control, and Communications Strategies

Keywords: autonomous underwater vehicles; unmanned underwater vehicles; unmanned surface vehicles; unmanned aerial vehicles; seabed communications; radio frequency communications; acoustic communications; open source software; standards; interoperability

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Eye Gaze Map as an Efficient State Encoder for Underwater Task Automation

Keywords: Gaze map; Learning from demonstration; ROV; State encoding; Task Automation

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Hexagonal Grid Graph as a Basis for Adaptive Sampling of Ocean Gradients using AUVs

Keywords: AUV; adaptive sampling; graph; gradient; path planning

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Hydrodynamic Performance Analysis of Fly-Wing Underwater Glider Flaps Based on Overlapped Grid Technology

Keywords: Fly-wing Underwater Glider; Overlapped Grid Method; Parametric Design; Lift-to-Drag Ratio; Fluid Mechanics

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Increased Autonomy and Situation Awareness for ROV Operations

Keywords: Autonomy; ROV; SLAM; mission planning; virtual experiment

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Low-cost AUV Swarm Localization Through Multimodal Underwater Acoustic Communication

Keywords: Underwater multimodal networks; Kalman filter; DESERT Underwater; WOSS; Bellhop ray-tracer;

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Method for Improving Existing Maneuvering Models to Accomodate Large Drift Angles

Keywords: Maneuvering, AUV, VPMM, unmanned, static drift

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Model-based Guidance, Navigation and Control architecture for an Autonomous Underwater Vehicle

Keywords: model-verification; model-based; GNC; AUV; MATLAB-Simulink; ROS

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Modular fault diagnosis for ROVs based on a multi-model approach

Keywords: model- based fault diagnosis; FDI; ROV; multi-model-diagnosis;

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OceanScout - Developing a compact, affordable, fleet-capable autonomous glider

Keywords: Underwater Glider; AUV; Ocean Observation;

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Optimizing environmentally-conditioned communications in an underwater autonomous network (UAN) through acoustic models and experimental data: results from LCAS18

Keywords: Robotics; Underwater communication; Cooperative control; METOC; Environmental conditions

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Parametric study of variable structure energy-saving devices for small autonomous underwater vehicles

Keywords: Autonomous underwater vehicle、Ring energy-saving device、CFD

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Propulsive performance of an undulating fin soft robot

Keywords: Underwater propulsion, soft robotics, knife fish

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Real time Optimal Allocation for I-AUV with Interacting Thrusters

Keywords: Optimal Allocation;Extremum Seeking;Interaction;Model Free

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Real-time Obstacle Avoidance for AUV Based on Reinforcement Learning and Dynamic Window Approach

Keywords: Autonomous underwater vehicle; Dynamic window approach; Q-learning; Obstacle avoidance

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Real-time Path Planning for Autonomous Underwater Vehicle Mobile Docking

Keywords: Autonomous underwater vehicle (AUV);underwater mobile docking;path planning;

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Real-time and Autonomous Water Quality Monitoring System Based on Remotely Operated Vehicle

Keywords: Real-time system; remotely operated vehicle, dissolved oxygen sensor, water quality, tether management

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Rendezvous of Networked Autonomous Underwater Vehicles in 3D Space

Keywords: Vehicle Kinematics; Multi-agent Group; Distributed Controller; Robot Navigation

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Research on Deep Learning Methods of UUV Maneuvering Target Tracking

Keywords: UUV; Single target tracking; Deep learning; LSTM;Bi-LSTM

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Research on UUVs Swarm Threat Assessment and Strategy Selection

Keywords: UUVs; Threat Assessment; Bayesian Network; Strategy Selection

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Robust Guidance and Control of Autonomous Underwater Vehicles with Deep Reinforcement Learning

Keywords: Deep reinforcement learning; Autonomous underwater vehicle; Robust control; Guidance; Underwater robotics simulator

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T*-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles

Keywords: Autonomous vehicles; curvature-constraints; time-risk optimal motion planning; sampling-based algorithms

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Toward Wireless Controlled Underwater Vehicles

Keywords: LoRa; remotely operated vehicles; software; wireless

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Towards Automated Structural Health Monitoring for Offshore Wind Piles

Keywords: Structural health monitoring; monopile; offshore wind; ROV; simulation; digital twin

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Towards The Development of The Multipurpose Autonomous Underwater Vehicle

Keywords: Autonomous Underwater Vehicles; thruster characterization; coastal and offshore research; rhode island; variable buoyancy systems; differential tilting thruster; multipurpose autonomous underwater vehicles;

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UUV path planning method based on QPSO

Keywords: quantum particle swarm optimization; Global path planning; Local obstacle avoidance; environment modeling

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Underwater Feature Comparison of a Fan-wing, a Propeller and a Fixed Wing

Keywords: underwater fan-wing thruster; propeller; fixed-wing; computational fluid dynamics

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Underwater Visual Tracking Method Based on KCF Algorithm of ArUco Marker

Keywords: Autonomous underwater vehicle, terminal guidance technology, ArUco Marker

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Vertical Dynamic Parameter Identification of Full-Ocean-Depth Underwater Vehicle

Keywords: Full-ocean-depth; hydrodynamics; parameter identification.

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Visual LOS Guided Docking of Over-actuated Underwater Vehicle

Keywords: LOS;Over-actuated; Underwater Vehicle

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Wide area seafloor imaging by a low-cost AUV

Keywords: autonomous underwater vehicle; navigation; seafloor imaging; low-cost; flow estimation

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