4 accepted papers
Autonomous underwater robotics faces significant challenges, particularly in the reliable recovery of Autonomous Underwater Vehicles (AUVs) after mission completion. To address this, small AUVs can dock onto a moving mothership for safe transport to recovery sites, reducing operational risks. This p…
Underwater concrete infrastructure plays a crucial role in energy and water systems. However, it requires regular inspections to ensure structural integrity. Remotely Operated Vehicles (ROVs) offer a safer and more cost-effective alternative to diver-based inspections. The data collected during insp…
The umbilical of Remote Operated Vehicle (ROV) has two main problems: it is subject to entanglement with obstacles or itself, and its shape is difficult to predict for the navigation. To address these issues, this article proposes a passive self-management of an ROV’s umbilical, suitable for underwa
This letter develops a geometrical construction of the shortest Dubins path in a discontinuous orientation-restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward.