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Recent advances in sensing, localization, and control for underwater robotics

posted 5 Apr 2013, 01:24 by Pere Ridao Rodríguez   [ updated 26 Jul 2013, 06:35 ]
I was invited to present our last results of the TRIDENT project in the "Recent advances in sensing, localization, and control for underwater robotics" which was held in lyon within the 2013 Eurobotics Forum.

Field Results in Multipurpose Autonomous UnderwaterIntervention

P. Ridao, P. Sanz, G. Oliver, G. Cassalino, A. Turetta Y. Petillot, C. Silvestre, C. Melchori

While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and the deployment and recovery of benthic stations are but a few of them. These tasks are addressed nowadays using manned submersibles, work-class ROVs and/or HROVs equipped with tele-operated arms under human supervision. This work presents recent results of the TRIDENT FP7 project to demonstrate the concept of multipurpose autonomous underwater intervention. The proposed methodology is divided in two phases. First (Survey Phase) an optical survey of the area is carried out autonomously. The outcome is a photomosaic, which is used by the user to select a target object. Next (Intervention Phase) the I-AUV is sent back to the region of interest to establish visual contact with the target. At this point, a multipurpose grasping strategy is launched in order to autonomously grasp the object. During this strategy, the object is detected and identified, and the grasping is computed. Next the arm-vehicle system executes a coordinated motion to perform the grasping while keeping the target in the camera field of view. In this paper, the last experimental results will be reported and the future trends of research will be pointed out.