7 accepted papers
This paper presents the experimental validation of a digital twin model for the Cyber Physics Opertation System(CPOS) ROVER, a tracked underwater robotic platform designed for seabed operations. Based on a high-fidelity multibody dynamics model, the digital twin incorporates trackground interactions…
This paper proposes a manipulator-effort-aware model predictive control (MPC) framework for coordinating body motion of a multi-legged underwater walking robot during moored mine clearance under ocean-current disturbances. The method treats the norm of manipulator joint torques as an effort-related …
The escalating demand for precision in maritime missions has led to the development of collaborative heterogeneous multi-robot systems, specifically pairing Autonomous Surface Vehicles (USVs) with Autonomous Underwater Vehicles (AUVs). Autonomous docking is essential for mission persistence, allowin…
With the increase in developments in underwater infrastructure, the demand for development of autonomous vehicle navigation system in structured environment is also increased. However, the localization in a structured environment is a challenging problem due to signal uncertainties and distortions.…
Sensory information from an Earth-fixed reference is necessary to guarantee a high localization accuracy of an unmanned underwater vehicle (UUV). However, the implementation of these sensors in an underwater environment is challenging because of signal uncertainties and strong signal attenuation. In…
Previously, we proposed a scheme that determines the position of a remotely operated underwater vehicle (ROV) from the signal strengths of commercial radio-frequency sensors and antennas. This scheme provides accurate position information in a structured environment but is limited to two-dimensional
We propose a scheme that uses the signal strength received from commercial RF sensors to determine the position of a sensor underwater. The scheme can give accurate position information and has fast update rate, but is limited to short sensor range with the signal identification problem. The infrast…