Autonomous Underwater Vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of sub sea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an au...

The article addresses comparison of fuzzy BKproduct approach with A* search algorithm for optimal path finding of the autonomous underwater vehicles (AUVs). The technique is designed to accomplish two missions: obstacle avoidance using ARTMAP and fuzzy BK-product and comparison of optimal path finding with A* search algorithm. In the first mission, underwater obstacle avoidance technique has al...

The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during the design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of the most popular class of AUVs is discussed. An applicati...

Underwater navigation and localization using single range measurements presents low–cost alternative to well established underwater localization systems. In this paper, single range localization with respect to stationary and mobile beacon is presented. Also, observability properties of single range localization systems are given and vehicle trajectories which ensure observability are character...

A recent concern in marine robotics is to consider the deployment of fleets of Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the pr...

A critical problem in planning sampling paths for autonomous underwater vehicles is correctly balancing two issues. First, obtaining an accurate scalar field estimation and second, efficiently utilizing the stored energy capacity of the sampling vehicle. Adaptive sampling approaches can only provide solutions when real-time and a priori environmental data is available. In this paper we present ...

Spawned by recent advances in technology, widespread attention has been focused on the coordination of multiple autonomous vehicles. In numerous mission scenarios, the concept of a group of agents cooperating to achieve a determined goal is very attractive when compared with the solution of one single, heavily equipped vehicle, as it exhibits better performance in terms of efficiency, flexibili...

This paper explores the intersection of two fields of research: autonomous underwater vehicles (AUVs), and archaeology in the deep sea. Archaeology in the deep sea poses a range of difficult, interesting problems for autonomous underwater vehicles. These include broad area sonar searches, target identification, and precision survey. Broad area sonar searches for archaeology have requirements si...

We present Dolphin, an extensible programming language for autonomous vehicle networks. A Dolphin program expresses an orchestrated execution of tasks defined compositionally for multiple vehicles. Building upon the base case of elementary one-vehicle tasks, the built-in operators include support for composing tasks in several forms, for instance according to concurrent, sequential, or event-ba...