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This paper proposes a methodology to estimate the transmission in underwater environments which consists on an adaptation of the Dark Channel Prior (DCP), a statistical prior based on properties of images obtained in outdoor natural scenes. Our methodology, called Underwater DCP (UDCP), basically considers that the blue and green color channels are the(More)
In this paper, we present and discuss a distributed scheme for multi-robot cooperation. It integrates mission planning and task refinement as well as cooperative mechanisms adapted from the Contract Net Protocol framework. We discuss its role and how it can be integrated as a component of a complete robot control system. We also discuss how it handles(More)
In underwater environments, the scattering and absorption phenomena affect the propagation of light, degrading the quality of captured images. In this work, the authors present a method based on a physical model of light propagation that takes into account the most significant effects to image degradation: absorption, scattering, and backscattering. The(More)
In this paper we apply a Neural Network (NN) to reduce image dataset, distilling the massive datasets down to a new space of smaller dimension. Due to the possibility of these data have nonlinearities, traditional multi-variate analysis, like the Principal Component Analysis (PCA), may not represent reality. Alternatively, Nonlinear Principal Component(More)
This paper discusses a general architecture where diierent schemes for multi robot task achievement can be integrated called \M+ Cooperative task achieve-ment". The main originality comes from its ability to allow the robots to detect-in distributed and cooperative manner-resource connict situation as well as sub-optimalities. Diierent actions are performed(More)
The use of Autonomous Underwater Vehicles (AUVs) for underwater tasks is a promising robotic field. These robots can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and(More)
The unstructured scenario, the extraction of significant features, the imprecision of sensors along with the impossibility of using GPS signals are some of the challenges encountered in underwater environments. Given this adverse context, the Simultaneous Localization and Mapping techniques (SLAM) attempt to localize the robot in an efficient way in an(More)
In this paper, we present and discuss a generic scheme for multi-agent cooperation. It integrates mission planning and task reenement as well as cooperative mechanisms adapted from the Contract Net Protocol framework. The use of this paradigm in a hierarchical manner is also analyzed. In addition, the properties of this cooperative scheme are discussed.(More)