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 Arctic seafloor remains one of the last unex-plored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the… (More)
Figure 1: A typical deployment scenario for the AUV consisted of an open lead or pond into which the vehicle was released. The leads often contained large broken pieces of ice. The aerial view on the right shows a common case, in which the icebreaker (lower-right corner) copes with 90% or greater ice cover. The ship's trail of broken ice leads upward and to… (More)
This paper describes a two week deployment of the Autonomous Underwater Vehicle (AUV) Sirius on the Tasman Peninsula in SE Tasmania and in the Huon Marine Protected Area (MPA) to the South West of Hobart. The objective of the deployments described in this work were to document biological assemblages associated with rocky reef systems in shelf waters beyond… (More)
— This paper describes an approach to achieving high resolution, repeated benthic surveying using an Autonomous Underwater Vehicle (AUV). A stereo based Simultaneous Localisation and Mapping (SLAM) technique is used to estimate the trajectory of the vehicle during multiple overlapping grid based surveys. The vehicle begins each dive on the surface and uses… (More)
This paper addresses the problem of autonomous localization of multiple gas or odor sources in an indoor environment with no strong airflow. In our approach, a robot iteratively builds an occupancy grid map ,  from successive measurements of odor concentration. The resulting map shows the probability of each discrete cell in the map containing an… (More)