The main objective of this project is to explore the possibility of using Multiple Autonomous Underwater Vehicles for increasing the performance of underwater optical imaging systems. The main objective, in this context, is to simulate the potential benefits that multiple vehicles can have in increasing the range, imaging footprint, and potentially 3-dimensional applications that can be afforde...

In this paper, we consider the time minimal problem for an Autonomous Underwater Vehicle. We investigate, on a simplified model, the existence of singular extremals and discuss their optimality status. Moreover, we prove that singular extremals corresponding to the angular acceleration are of order 2. We produce in this case a semicanonical form of our Hamiltonian system and we can conclude the...

Autonomous underwater vehicles (AUVs) have gained more interest in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into undersea surveillance using AUVs progresses, issues arise as to how an AUV acquires, acts on, and shares information about the undersea battle space. These issues naturally t...

This paper discusses the design and practical use of efficient trajectories for an autonomous underwater vehicle. The vehicle model that will be presented is based on the NASA funded Deep Phreatic Thermal Explorer (DEPTHX) and the Omni-Directional Intelligent Navigator (ODIN). The underlying mathematical framework is developed using geometric control theory and differential geometry. Briefly, t...

This paper considers the technology needs for autonomous underwater vehicles as the middle layer of a three-layer process. The first layer is the high level User Requirement, which may be stated in the form of business objectives such as ‘competitive running cost’ or ‘less than 1 hour per week downtime’. These business objectives map on to the middle layer of specific, but generic technology ne...

A maioria das ações que os veículos subaquáticos operados remotamente (ROVs) executam são empregadas pelos operadores,mas com a ascenção tecnológica tornando possível realização de tarefas autônomas, esses estão conseguindo realizar algumas sem interferência humana. Este material é uma revisão ROVs capazes autônomas. Esta começou o aplicativo BiLi Method para encontrar publicações relevantes e ...

Motivation: The two motivating applications are autonomous control of unmanned underwater vehicles and a maneuver decision aid for manned underwater vehicles (US nuclear submarines). The first is challenging due to the complete lack of a man-in-the-loop, and the second is challenging since the decision recommendations potentially affect the lives of the crew and generated decisions must compete...

My long-term goal is to contribute, by means of an accurate hydrodynamics model, to efficient design, development and operation of autonomous underwater vehicles in energetic shallow waters. From a scientific viewpoint, the development of the AUV hydrodynamic model will contribute to a better understanding of wave-body-current interactions, nonlinear shallow-water waves, wave effects on stabili...