The increasing use ofAutonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle localization one of the challenging questions to consider for the mission success. GraphSLAM has emerged as a promising approach in land vehicles, however, due to the complexity of the aquatic media, these systems have been rarely applied in underwater vehicles. The few existing ...

We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for th...

In the past few years wireless Sensor Network has been an emerging technology. As it is a permutation of computation, sensing, and communication. In the 70% of the earth, a huge amount of unexploited resources lies covered by oceans. To coordinate interact and share information among themselves to carry out sensing and monitoring function underwater sensor network consists a number of various s...

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This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles (AUVs). Whereas typical AUV navigation systems utilize pre-calibrated arrays of static transponders, our work seeks to create a fully mobile network of AUVs that perform acoustic ranging and data exchange with one another to achieve cooperative positioning for extended duration missions over...

In this paper, we present a formation-keeping control of multiple autonomous underwater vehicles(UAVs) in 3D space. We use a so-called LeaderFollower formation approach, and our control task is to keep the relative position of each follower with a desired orientation to the leader. An Input/Output linearization is applied to the error system whose coordinates are the differences between a targe...

Image processing has been one of hot issues for real world robot applications such as navigation and visual servoing. In case of underwater robot application, however, conventional optical camera-based images have many limitations for real application due to visibility in turbid water, image saturation under underwater light in the deep water, and short visible range in the water. Thus, most of...

Twenty years ago, autonomous underwater vehicles (AUVs) were an infant technology, and there was an absence of evolution to guide designers in deciding the fundamental shape and size of their craft. Since this period, researchers have tried a wide variety of AUV shapes and sizes, including torpedo shapes, like the National Oceanography Centre's (NOC) Autosub and Hydroid's (Pocasset, Massachuset...

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories ...

Underwater vehicles are expected as the attractive tools for the operation in the extreme environment such as the deep ocean survey. In order to realize the useful and practical robots, which can work in the ocean, underwater vehicles should take their action by judging the changing condition from their own sensors and actuators, and are desirable to make their behavior with limited efforts of ...