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— In this paper we study the problem of manipulating and transporting multiple objects on the plane using a cable attached at each end to a mobile robot. This problem is motivated by the use of boats with booms in skimming operations for cleaning oil spills or removing debris on the surface of the water. The goal in this paper is to automate the task of(More)
We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to(More)
We describe a technique for an Autonomous Surface Vehicle (ASV) to learn an obstacle map by classifying overhead imagery. Classification labels are supplied by a front-facing sonar, mounted under the water line on the ASV. We use aerial imagery from two online sources for each of two water bodies (a small lake and a harbor) and train classifiers using(More)
Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanog-raphy. Most high-endurance and long-range AUVs rely on satellite phones as their primary communications interface during missions for data/command telemetry due to its global coverage. Satellite phone (e.g., Iridium) expenses can make up a significant portion of an AUV's operating budget(More)
— We present a collaborative team of two under-actuated autonomous surface vessels (ASVs) that performs a cooperative navigation task while satisfying a communication constraint. Our approach is based on the use of a hierarchical control structure where a supervisory module commands each vessel to perform prioritized elementary tasks, a behavior-based(More)
We present a study on the use of cooperative robots to execute a caging mission on the water's surface. In particular, we consider the problem of using two robotic boats (under-actuated autonomous surface vessels) connected with a floating rope, to ‘capture’ a floating object from a known location on the water's surface and 'shepherd' it to a(More)
Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography through their versatility, autonomy and endurance. However, they are still an underutilized technology. For coastal operations, the ability to track a certain feature is of interest to ocean scientists. Adaptive and predictive path planning requires frequent communication with(More)
Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we address the cooperative control of two autonomous surface vehicles for oil skimming and cleanings. We model the skimmer as a flexible, floating rope of constant length as well as discrete segmented model. We derive the equations governing the(More)
More than 70% of our earth is covered by water, yet we have explored less than 5% of the aquatic environment. Aquatic robots, such as autonomous underwater vehicles (AUVs), and their supporting infrastructure play a major role in the collection of oceanographic data. To make new discoveries and improve our overall understanding of the ocean, scientists must(More)
We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location , and transport it to a designated position. We focus on the(More)