Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algo...
The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This ar...
Following the persistent evolution of terrestrial 5G wireless systems, a new field of underwater communication has emerged for various related applications like environmental monitoring, underwater mining, and marine research. However, establishing r...
Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments. Teams of AUVs designed to work within a common mission are opening the possibilit...
This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province...
The marine environment presents a unique set of challenges for human–robot interaction. Communicating with gestures is a common way for interacting between the diver and autonomous underwater vehicles (AUVs). However, underwater gesture recogni...
The characteristics of autonomous underwater vehicles include nonlinearity, strong coupling, multiple inputs and multiple outputs, uncertainty, strong disturbance, underdrive, and multiple constraints. Autonomous underwater vehicle cluster systems ar...
Autonomous Underwater Vehicles (AUVs) are seen as a safe and cost-effective platforms for performing a myriad of underwater missions. These vehicles are equipped with multiple sensors which, combined with their long endurance, can produce large amoun...
Underwater imaging has been present for many decades due to its relevance in vision and navigation systems. In recent years, advances in robotics have led to the availability of autonomous or unmanned underwater vehicles (AUVs, UUVs). Despite the rap...
This paper presents a fault-tolerant model predictive control approach for cross-rudder autonomous underwater vehicles to achieve heading control, considering rudder stuck faults and unknown disturbances. Specifically, additive faults in the rudders...
In the present work, sedimentary microbial fuel cells (s-MFC) have been proposed as effective tools to power remote sensors in different aquatic environments, thanks to their ability to produce renewable and sustainable energy continuously and autono...
This paper addresses the trajectory tracking control problem of Autonomous Underwater Vehicles (AUVs). A comprehensive mathematical model is first established based on Newtonian mechanics, incorporating both kinematic and dynamic equations. By reason...
The global path planning system is one of the basic systems ensuring the autonomous operation of unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs) in a complex aquatic environment. The A* path planning algorithm is one of the m...
Autonomous underwater vehicles (AUVs) tasked with seafloor coverage require a robust integration of path planning and control strategies to operate in adverse real-world environments including obstacles, disturbances, and physical constraints. In thi...
The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external distur...
This paper proposes a 1000 W high-frequency three-phase power inversion underwater capacitive wireless power transfer (UCWPT) system for power delivery to autonomous underwater vehicles (AUVs). The multi-phase coupling structure is designed as a colu...
Autonomous Underwater Vehicles (AUVs) play a central role in marine observation, inspection, and monitoring missions, where effective trajectory planning is essential for ensuring safe operation, reliable sensing, and efficient data transfer. In real...
The endurance of autonomous underwater vehicles (AUVs) has long been constrained by limited energy replenishment. Underwater inductive wireless power transfer (UIWPT), with its contactless power transfer capability, offers an innovative solution for...
Autonomous Underwater Vehicles (AUVs) or underwater vehicle-manipulator systems often have large model uncertainties from degenerated or damaged thrusters, varying payloads, disturbances from currents, etc. Other constraints, such as input dead zones...
In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deplo...
Spot hover and high speed capabilities of underwater vehicles are essential for ocean exploring, however, few vehicles have these two features. Moreover, the motion of underwater vehicles is prone to be affected by the unknown hydrodynamics. This pap...
The authors develop an approach to a “best” time path for Autonomous Underwater Vehicles conducting oceanographic measurements under uncertain current flows. The numerical optimization tool DIDO is used to compute hybrid minimum time and optimal surv...
Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-savi...
Ocean exploration is of major importance for several reasons, including energy and mineral resource retrieval, sovereignty, and environmental concerns. The use of autonomous underwater vehicles (AUV) has thus been receiving increased attention from t...
Persistent localization is a critical requirement for autonomous underwater vehicles (AUVs) engaged in long-term missions. Conventional dead-reckoning (DR) methods for estimating the position and orientation of AUVs often suffer from drift, necessita...
High-precision environmental perception is essential for deep-sea exploration and autonomous underwater vehicle operations. However, physical factors such as light scattering and selective absorption, along with high target–background similarit...
The rapid development of marine robotic technology in recent decades has resulted in significant improvements in the self-sufficiency of autonomous underwater vehicles (AUVs). However, simple scenario-based approaches are no longer sufficient when it...
This paper studies a novel intelligent motion control algorithm for Autonomous Underwater Vehicles (AUV) and develops a virtual reality system for a new interactive experimental platform. The paper designs a robust neuro-fuzzy controller to tackle sy...
This research proposes a unified guidance and control framework for Autonomous Underwater Vehicles (AUVs) based on the task priority control approach, incorporating various behaviors such as path following, terrain following, obstacle avoidance, as w...
Efficient navigation of multiple autonomous underwater vehicles (AUVs) plays an important role in monitoring underwater and off-shore environments. It has encountered challenges when AUVs work in complex underwater environments. Traditional swarm int...
Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-l...
Multiple autonomous underwater vehicles (AUVs) have gradually become the trend in underwater operations. Identifying and detecting these new underwater multi-targets is difficult when studying underwater moving targets. A 28-element transducer is use...
The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea product...
Effective communication between multiple autonomous underwater vehicles (AUVs) is necessary for formation control. As the most reliable underwater communication method, acoustic communication still has many constraints compared with radio communicati...
This paper proposes a method for passive detection of autonomous underwater vehicle (AUV) wakes using a cilium-inspired wake sensor (CIWS), which can be used for the detection and tracking of AUVs. First, the characteristics of the CIWS and its worki...
To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults...
This paper aims to address the obstacle avoidance problem of autonomous underwater vehicles (AUVs) in complex environments by proposing a trajectory planning method based on the Gauss pseudospectral method (GPM). According to the kinematics and dynam...
In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, exter...
Due to the precarious underwater environment, many tasks are impossible to carry out with manned vehicles. It is due to the development of autonomous underwater vehicles (AUVs) that exploration, surveillance, and research have been carried out like n...
As important observational platforms for the Smart Ocean concept, autonomous underwater vehicles (AUVs) that perform long-term observation in fleets are beneficial because they provide large-scale sampling data with a sufficient spatiotemporal resolu...
The high efficiency of obstacle detection system (ODS) is essential to obtain the high performance of autonomous underwater vehicles (AUVs) carrying out a mission in a complex underwater environment. Based on the previous literature analysis, that in...
This paper studies the position regulation problems of an Autonomous Underwater Vehicle (AUV) subject to external disturbances that may have abrupt variations due to some events, e.g., water flow hitting nearby underwater structures. The disturbing f...
To achieve rapid and flexible vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with orthogonal joints was designed. This paper focuses on the 3-dimensional (3D) modeling and attitude con...
A two-dimensional coupled dynamics model for a moored autonomous underwater vehicle (AUV) was developed using the lumped mass method for mooring cable dynamics and the Newton-Euler method for rigid body dynamics. This model enables the integrated sim...
This paper presents a phased fault tree analysis (phased-FTA)-based approach to evaluate the performability of Autonomous Underwater Vehicles (AUVs) in real time. AUVs carry out a wide range of missions, including surveying the marine environment, se...
The rapid technological development of computing power and system operations today allows for increasingly advanced algorithm implementation, as well as path planning in real time. The objective of this article is to provide a structured review of si...
Autonomous Underwater Vehicles (AUVs) are increasingly used in deep-sea exploration, environmental monitoring, and marine engineering. Their operational safety and mission performance rely heavily on accurate and long-endurance underwater localizatio...
Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the envi...
The absence of global positioning system (GPS) signals and the influence of ocean currents are two of the main challenges facing the autonomy of autonomous underwater vehicles (AUVs). This paper proposes an acoustic localization-based tracking contro...
A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance ru...
of 22