Intervention AUVs: The next challenge
dc.contributor.author
dc.date.accessioned
2016-11-23T07:38:11Z
dc.date.available
2016-11-23T07:38:11Z
dc.date.issued
2015-11-12
dc.identifier.issn
1367-5788
dc.identifier.uri
dc.description.abstract
While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors' knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: (1) valve turning and connector plugging/unplugging while docked to a subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far
dc.description.sponsorship
This work was supported by the Spanish project MERBOTS (DPI2014-57746-C3) and three European Commissions Seventh Framework Program 2011–2015 projects: FP7-ICT-2011-7-288704 (MORPH) and FP7-INFRASTRUCTURES-2012-312762 (EUROFLEETS2)
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
dc.relation
info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-R/ES/ARQUEOLOGIA MARINA MEDIANTE LA COOPERACION HROV%2FAUV/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1016/j.arcontrol.2015.09.015
dc.relation.ispartof
© Annual Reviews in Control, 2015, vol. 40, p. 227-241
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.title
Intervention AUVs: The next challenge
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
info:eu-repo/grantAgreement/EC/FP7/312762/EU/New operational steps towards an alliance of European research fleets/EUROFLEETS2
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
024581
dc.contributor.funder
dc.relation.ProjectAcronym