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MoveIt!: Autonomous Underwater Free-Floating Manipulation

Today, autonomous underwater vehicles (AUVs) are mostly used for survey missions, but many existing applications require manipulation capabilities, such as the maintenance of permanent observatories, submerged oil wells, cabled sensor networks, and pipes; the deployment and recovery of benthic stations; or the search and recovery of black boxes. Currently, these tasks require the use of work-class remotely operated vehicles (ROVs) deployed from vessels equipped with dynamic positioning, leaving such solutions expensive to adopt. To face these challenges during the last 25 years, scientists have researched the idea of increasing the autonomy of underwater intervention systems

This work was supported by the Spanish Project DPI2014-57746-C3-3-R (MERBOTS-ARCHROV)

Institute of Electrical and Electronics Engineers (IEEE)

Manager: Ministerio de Economía y Competitividad (Espanya)
Author: Youakim Isaac, Dina Nagui
Ridao Rodríguez, Pere
Palomeras Rovira, Narcís
Spadafora, Francesco
Ribas Romagós, David
Muzzupappa, Maurizio
Abstract: Today, autonomous underwater vehicles (AUVs) are mostly used for survey missions, but many existing applications require manipulation capabilities, such as the maintenance of permanent observatories, submerged oil wells, cabled sensor networks, and pipes; the deployment and recovery of benthic stations; or the search and recovery of black boxes. Currently, these tasks require the use of work-class remotely operated vehicles (ROVs) deployed from vessels equipped with dynamic positioning, leaving such solutions expensive to adopt. To face these challenges during the last 25 years, scientists have researched the idea of increasing the autonomy of underwater intervention systems
This work was supported by the Spanish Project DPI2014-57746-C3-3-R (MERBOTS-ARCHROV)
Format: application/pdf
Document access: http://hdl.handle.net/10256/14476
Language: eng
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Collection: info:eu-repo/semantics/altIdentifier/doi/10.1109/MRA.2016.2636369
info:eu-repo/semantics/altIdentifier/issn/1070-9932
info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-R/ES/ARQUEOLOGIA MARINA MEDIANTE LA COOPERACION HROV%2FAUV/
Rights: Tots els drets reservats
Subject: Robots mòbils
Mobile robots
Vehicles submergibles
Submersibles
Title: MoveIt!: Autonomous Underwater Free-Floating Manipulation
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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