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In this work we are describing a multi-modal short-range navigation system for precision positioning tasks such as docking of a robotic vehicle in 3d space. The two input modalities, a monocular camera tracking a visual marker and an array of 3-axis magnetometers tracking a magnet, were chosen to cover a wide range of environmental conditions in order to increase the versatility and robustness of...
In this work we investigate the identification of a motion model for an autonomous underwater vehicle by applying different machine learning (ML) regression methods. By using the data collected from the robot's on-board navigation sensors, we train the regression models to learn the damping term which is regarded as one of the most uncertain components of the motion model. Four regression techniques...
Exploration of under-ice environments has gained importance in the last decades. Reasons for this range from political (extension of the exclusive economic zone) to scientific (researching climate change, marine biology). The work in this paper had yet another key motivation: exploration of Jupiter's ice-moon Europa. Planetologists predict an ocean of liquid water below an ice shield with 3–15 kilometers...
The aim of this work is to identify the unknown physical parameters of an underwater vehicle in 3 DOF (surge, sway and yaw) using on-board sensors. The identified dynamic model is used for analysing and understanding the vehicle which operates at low speeds. The identification method used here is based on an approach described by Indiveri [1] and similar methods have also been employed by Ridao, et...
This paper presents the conceptual idea and a developed prototype of a docking system for a hovering AUV (Autonomous Underwater Vehicle). The presented docking system passively assists the vehicle's docking procedure by guiding it into a defined position, where it is mechanically locked in place by one of the station's actuators. In its final position the docking system provides an electrical power...
The AUV DAGON was designed as a vehicle for algorithm evaluation and visual mapping. Since its initial launching in early 2010 two years of experiments and experience with the vehicle have passed. This paper will give an overview of the work with the AUV DAGON and highlight the scientific experiments conducted with it, concluding with a “lessons learned” section with important modifications and ideas...
Autonomous Underwater Vehicles (AUVs) are in high demand within the offshore industry and maritime research, mainly used for bathymetry and data acquisition. The control architectures of these AUVs mimic this primary function by focusing on strict mission plans as these kind of application require, thus reducing the need for direct sensor reaction to emergency situations. The emerging needs for more...
This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the...
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