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Journals and Conferences
This paper reports the development and at-sea deployment of a set of algorithms that have enabled our autonomous underwater vehicle, ABE, to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.
— The WHOI Micro-Modem is a compact, low-power acoustic transceiver that can provide both acoustic telemetry and navigation. Its size and versatility make it ideal for integration in autonomous underwater vehicles (AUVs). The modem supports the use of both broadband and narrowband transponders for long baseline navigation systems, has a modem-to-modem… (More)
The goals of this field note are twofold. First, we detail the operations and discuss the results of the 2005 Chios ancient shipwreck survey. This survey was conducted by an international team of engineers, archaeologists and natural scientists off the Greek island of Chios in the northeastern Aegean Sea using an autonomous underwater vehicle (AUV) built… (More)
We study robotic tracking of dynamic plume front modeled by the advection-diffusion equation in this paper. Different from existing work purely relying on gradient measurement, the transport model of pollution source is explicitly considered in tracking control design. We first study the problem using a single robot and solve the problem in an estimation… (More)
– 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… (More)
In this paper we present a general framework for predicting the positioning uncertainty of underwater vehicles. We apply this framework to common examples from marine robotics: standalone long baseline (LBL) positioning and integrated LBL reference and Doppler velocity log (DVL) dead-reckoning.
Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front… (More)
The recently developed wave glider has the potential to be an effective unmanned platform for acoustic applications. We present the results of a variety of experiments that quantify this potential. The radiated self-noise of the autonomous platform is evaluated using an integrated passive acoustic recorder during a set of field trials off the coast of… (More)
Shipwrecks in deep water are often found by their surface expressions, such as exposed ceramic containers. Fully investigating or excavating those sites, however, requires understanding what is buried beneath, including organic materials and the remains of ship structure. This paper lays out the archaeological and technical justification for a… (More)
A B S T R A C T This paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned… (More)