4 accepted papers
In-situ observation of the deep-sea floor is a fundamental need for marine sciences and ecosystem monitoring. This work proposes a novel robotic approach for benthic observations in the deep sea using underwater gliders. The glider is equipped with a downward looking camera system to acquire high re…
An adaptive sensing method is presented to control the pinging interval of a downward-looking sonar on an Autonomous Underwater Vehicle. The goal is to conserve energy via adjusting the pinging rate automatically without reducing the localization accuracy when using terrain-aided navigation (TAN). I…
This paper introduces two well-accepted path-following control methods, namely Vector Field Method (VF) and Line-Of-Sight Method (LOS) for Unmanned Surface Vehicles (USVs). We provide a comprehensive study of each algorithm, which includes investigating their mathematical origins, performing simulat…
It is important to register oceanographic data into a geo-referenced coordinate system. Knowing the location of the sampling is critical. For a marine robotic network, the location of Unmanned Surface Vessels (USVs) can be measured using a Global Positioning System (GPS), however the navigation of A…