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Underwater Robotics

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Book cover Springer Handbook of Robotics

Abstract

This chapter deals with the main underwater robotic topics. First, a brief introduction showing the constantly expanding role of marine robotics in oceanic engineering is given; this section also contains some historical backgrounds. Most of the following sections strongly overlap with the corresponding chapters presented in this handbook; hence, to avoid useless repetitions, only those aspects peculiar to the underwater environment are discussed, assuming that the reader is already familiar with concepts such as fault detection systems when discussing the corresponding underwater implementation. The modeling section is presented by focusing on a coefficient-based approach capturing the most relevant underwater dynamic effects. Two sections dealing with the description of the sensor and the actuating systems are then given. Autonomous underwater vehicles require the implementation of mission control system as well as guidance and control algorithms. Underwater localization is also discussed. Underwater manipulation is then briefly approached. Fault detection and fault tolerance, together with the coordination control of multiple underwater vehicles, conclude the theoretical part of the chapter. Two final sections, reporting some successful applications and discussing future perspectives, conclude the chapter.

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Abbreviations

AUV:

autonomous underwater vehicles

CG:

center of gravity

CML:

concurrent mapping and localization

DOF:

degree of freedom

DVL:

Doppler velocity log

GPS:

global positioning system

GUI:

graphical user interface

IMU:

inertial measurement units

IST:

Information Society Technologies

IST:

Instituto Superior Técnico

LBL:

long-baseline system

MBARI:

Monterey Bay Aquarium Research Institute

MCS:

mission control system

NPS:

Naval Postgraduate School

ODE:

ordinary differential equation

PID:

proportional–integral–derivative

ROV:

remotely operated vehicle

SBL:

short-baseline system

SISO:

single-input single-output

SLAM:

simultaneous localization and mapping

US:

ultrasound

USBL:

ultrashort-baseline system

UUV:

unmanned underwater vehicles

UVMS:

underwater vehicle manipulator system

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Authors and Affiliations

  1. Dipartimento di Automazione, Ingegneria dellʼInformazione e Matematica Industriale, Università degli Studi di Cassino, Via G. Di Biasio 43, 03043, Cassino, Italy

    Gianluca Antonelli Prof

  2. Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), 7491, Trondheim, Norway

    Thor I. Fossen Prof

  3. Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, MS7 Blake Bldg., 02543, Woods Hole, MA, USA

    Dana R. Yoerger

Authors
  1. Gianluca Antonelli Prof
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  2. Thor I. Fossen Prof
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  3. Dana R. Yoerger
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Corresponding authors

Correspondence to Gianluca Antonelli Prof , Thor I. Fossen Prof or Dana R. Yoerger .

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Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Antonelli, G., Fossen, T.I., Yoerger, D.R. (2008). Underwater Robotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_44

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_44

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

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