The aim of the EU-project "Cooperative Cognitive Control for Autonomous Underwater Vehicles (Co3AUVs)" is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly link...

There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental pro...

Through my research, it is clear that navigation techniques for autonomous underwater vehicles (AUVs) are still in a highly research-based, theoretic stage. There are many different techniques to consider for navigation. Some are more effective in certain scenarios, such as deep water, while others can be used in multiple environments. Some of these techniques are improved by working in collabo...

Autonomous Underwater Vehicles (AUVs) are in operation and under study around the world. As techniques are being developed for practical use, different vehicles and tools are proliferating. Each vehicle requires dedicated tools, broad knowledge and troubleshooting skills to plan and analyze missions. Executing these missions is often fraught with operational challenges as well. Multiple systems...

This paper proposes a novel technique for autonomous mission plan recovery in order to increase operability of unmanned underwater vehicles. It combines the benefits of knowledge-based ontology representation, autonomous partial ordering plan repair and robust mission execution. The approach is based on a combination of unrefinement and refinement stages on the plan-space domain in order to ada...

Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. This paper describes an approach for autonomous underwater vehicles using a side scan sonar system. First. some general aspects of the type of data and filtering techniques to improve it are discussed. We then proceed to derive an estimcltcd bottom contour, using a geomemc reflection ...

This paper presents a supervisorymulti-agent control policy over an acoustic communication network subject to imperfections (packet dropout and transmission delay) for localisation of an underwater flow source (e.g., source of chemical pollution, fresh water, etc.) with an unknown location at the bottom of the ocean. A two-loop control policy combined with a coding strategy for reliable communi...

Maritime Platforms Division within DSTO is currently studying the emerging science and technology of autonomous underwater vehicles for defence applications. As part of an examination of the requirements for the hydrodynamics and manoeuvrabilty of these vehicles MPD has been tasked with the development of models to determine the hydrodynamic coefficients of simple and complex submerged bodies a...

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rul...

A neural network model reference adaptive controller for trajectory tracking of nonlinear systems is developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system’s dynamic structure and characteristics and provides portability. Numerical simulations are performed using nonlinear dynamic models of marine vehicles. Results ar...