Experiments with cooperative control of underwater robots

International Journal of Robotics Research

Volumn 28, Issue 6, 2009, Pages 815-833

  Dunbabin, Matthew ^a   Corke, Peter ^a   Vasilescu, Iuliu ^b   Rus, Daniela ^b  

^a CSIRO   (Australia)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Autonomous underwater vehicles; Cooperative control; Underwater communications; Underwater sensor networks; Underwater vehicle control; Vision based navigation

Indexed keywords

COOPERATIVE CONTROL; UNDERWATER COMMUNICATIONS; UNDERWATER SENSOR NETWORKS; UNDERWATER VEHICLE CONTROL; VISION-BASED NAVIGATION;

CONTROL SYSTEM SYNTHESIS; NAVIGATION; SENSOR NETWORKS; SENSOR NODES; SOFTWARE ARCHITECTURE; SUBMERSIBLE MOTORS; SUBMERSIBLES; TELECOMMUNICATION EQUIPMENT; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 65949102104     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908098456     Document Type: Article

References (33)

1. Ayers, J., Wilbur, C. and Olcott, C. (2000). Lamprey robots. Proceedings of the International Symposium on Aqua Bio-mechanisms.
2. Bellingham, J.G., Goudey, C.A., Consi, T.R., Bales, J.W., Atwood, D.K., Leonard, J.J. and Chryssostomidis, C. (1994). A second generation survey AUV. Proceedings IEEE Conference on Autonomous Underwater Vehicles, Cambridge, MA, pp. 148-155.
3. Bokser, V., Oberg, C., Sukhatme, G.S. and Requicha, A.A. (2004). A small submarine robot for experiments in underwater sensor networks. Proceedings of the International Federation of Automatic Control Symposium on Intelligent Autonomous Vehicles.
4. Choi, H.T., Hanai, A., Choi, S. and Yuh, J. (2003). Development of an underwater robot, ODIN-III. Proceedings of the International Conference on Intelligent Robot Systems (IROS), pp. 836-841.
5. Corke, P., Detweiler, C., Dunbabin, M., Hamilton, M., Vasilescu, I. and Rus, D. (2007). Experiments with underwater localization and tracking. Proceedings IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 4556-4561.
6. Corke, P., Hrabar, S., Peterson, R., Rus, D., Saripalli, S., and Sukhatme, G. (2004 a). Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle. Proceedings IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 3602-3608.
7. Corke, P., Hrabar, S., Peterson, R., Rus, D., Saripalli, S. and Sukhatme, G. (2006). Deployment and connectivity repair of a sensor network with a flying robot. Springer Tracts in Advanced Robotics (STAR), 21: 333-342.
8. Cowen, S., Briest, S. and Dombrowski, J. (1997). Underwater docking of autonomous undersea vehicles using optical terminal guidance. Proceedings of Oceans97, MTS/IEE Conference, Halifax, pp. 1143-1147.
9. Detweiler, C., Leonard, J., Rus, D. and Teller, S. (2006). Passive mobile robot localization within a fixed beacon field. Proceedings of the International Workshop on the Algorithmic Foundations of Robotics. New York, Springer.
10. Dunbabin, M., Corke, P. and Buskey, G. (2004). Low-cost vision-based AUV guidance system for reef navigation. Proceedings of the 2004 International Conference on Robotics and Automation, New Orleans, LA, pp. 7-12.
11. Dunbabin, M., Roberts, J., Usher, K., Winstanley, G. and Corke, P. (2005). A hybrid AUV design for shallow water reef navigation. Proceedings of the 2005 International Conference on Robotics and Automation, Barcelona, pp. 2105- 2110.
12. Dunbabin, M., Vasilescu, I., Corke, P. and Rus, D. (2006 a). Data muling over an underwater sensor network with an underwater robot. Proceedings IEEE International Conference on Robotics and Automation ICRA, Orlando, FL, pp. 2091-2098.
13. Dunbabin, M., Vasilescu, I., Corke, P. and Rus, D. (2006 b). Experiments with cooperative underwater networked robots. Proceedings of the International Symposium on Robotics Research.
14. Eriksen, C.C., Osse, T.J., Light, R.D., Wen, T., Lehman, T.W. and Sabin, P.L. (2001). Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE Journal of Oceanic Engineering, 26 (4). 424-436.
15. Fiorelli, E., Leonard, N.E., Bhatta, P., Paley, D., Bachmayer, R. and Fratantoni, D.M. (2004). Multi-AUV control and adaptive sampling in Monterey Bay. Proceedings of the IEEE Autonomous Underwater Vehicles: Workshop on Multiple AUV Operations, Sebasco, ME, pp. 134-147.
16. Hanai, A., Rosa, K., Choi, S. and Yuh, J. (2004). Experimental analysis and implementation of redundant thrusters for underwater robots. Proceedings of the International Conference on Intelligent Robot Systems (IROS), Vol. 2, pp. 1109- 1114.
17. Huster, A. and Rock, S. (2003). Relative position sensing by fusing monocular vision and inertial rate sensors. Proceedings of the 11th International Conference on Advanced Robotics, Coimbra, Portugal, pp. 1562-1567.
18. Kalantar, S. and Zimmer, U.R. (2004). Contour shaped formation control for autonomous underwater vehicles using canonical shape descriptors and deformable models. Proceedings of the IEEE International Conference on Marine Technology and Ocean Science, Kobe, Japan.
19. Leonard, J.J., Bennett, A.A., Smith, C.M. and Feder, H.J.S. (1998). Autonomous underwater vehicle navigation. Memorandum 98-1, MIT Marine Robotics Laboratory, Cambridge, MA.
20. McIsaac, K. and Ostrowski, J. (1999). A geometric approach to anguilliform locomotion: modelling of an underwater eel robot. Proceedings IEEE Conference of Robotics and Automation, pp. 2843-2848.
21. Moore, D., Leonard, J., Rus, D. and Teller, S. (2004). Robust distributed network localization with noisy range measurements. Proceedings of ACM SenSys, Baltimore, MD.
22. Nahon, M. (1996). A simplified dynamics model for autonomous underwater vehicles. Proceedings of AUV'96, pp. 373-379.
23. Park, J.-Y., Jun, B.-H., Lee, P.-M., Lee, F.-Y. and ho Oh, J. (2007). Experiment on underwater docking of an autonomous underwater vehicle 'ISiMI' using optical terminal guidance. Proceedings of OCEANS 2007-Europe, pp. 1-6.
24. Pizarro, O., Eustice, R. and Singh, H. (2004). Large area 3D reconstructions from underwater surveys. Proceedings of OCEANS '04: MTTS/IEEE TECHNO-OCEAN '04, Vol. 2, pp. 678-687.
25. Sattar, J. and Dudek, G. (2006). On the performance of color tracking algorithms for underwater robots under varying lighting and visibility. Proceedings IEEE International Conference on Robotics and Automation, pp. 3550-3555.
26. Sikka, P., Corke, P. and Overs, L. (2004). Wireless sensor devices for animal tracking and control. Proceedings 1st IEEE Workshop on Embedded Networked Sensors, Tampa, FL, pp. 446-454.
27. Singh, H., Bowen, M., Hover, F., LeBas, P. and Yoerger, D. (1997). Intelligent docking for an autonomous ocean sampling network. Proceedings of Oceans97, MTS/IEE Conference, Halifax, pp. 1136-1131.
28. Vasilescu, I., Kotay, K., Rus, D., Corke, P. and Dunbabin, M. (2005). Data collection, storage and retrieval with an underwater sensor network. Proceedings of ACM SenSys, pp. 154-165.
29. Walter, M.R., Eustice, R.M. and Leonard, J.J. (2007). Exactly sparse extended information filters for feature-based SLAM. The International Journal of Robotics Research, 26 (4). 335-359.
30. Wettergreen, D., Gaskett, C. and Zelinsky, A. (1999). Autonomous control and guidance for an underwater robotic vehicle. Proceedings of the International Conference on Field and Service Robotics, Pittsburgh, PA.
31. Whitcomb, L.L. (2000). Underwater robotics: out of the research laboratory and into the field. Proceedings IEEE International Conference on Robotics and Automation, pp. 709-716.
32. Whitcomb, L.L., Yoerger, D.R. and Singh, H. (1999). Combined Doppler/LBL based navigation of underwater vehicles. Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH.
33. Yuh, J. (2000). Design and control of autonomous underwater robots: a survey. Autonomous Robots, 8 (1). 7-24.