A recent concern in marine robotics is to consider the deployment of fleets of Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASVs). Multiple vehicles with heterogeneous capabilities have several advantages over a single vehicle system, and in particular the potential to accomplish tasks faster and better than a single vehicle. This paper addresses in this context the pr...

This paper addresses the issue of guidance and control of an autonomous underwater vehicle (AUV) for a cable tracking problem. A linear quadratic Gaussian controller with loop transfer recovery (LQG/LTR) is developed because of its strong robustness properties. The vehicle is guided towards the target using a combination of different guidance algorithms. The vehicle speed is used to formulate t...

In this paper, an integration of Improve Particle Swarm Optimization (IPSO) in combination with Successive Quadratic programming (SQP) so called IPSO-SQP algorithm is proposed to solve time optimal bang-bang control problems. The procedure is found not sensitive to the initial guess of the solution. Due to random selection in the first stage of the search process, the chance of converging to th...

This paper explores the intersection of two fields of research: autonomous underwater vehicles (AUVs), and archaeology in the deep sea. Archaeology in the deep sea poses a range of difficult, interesting problems for autonomous underwater vehicles. These include broad area sonar searches, target identification, and precision survey. Broad area sonar searches for archaeology have requirements si...

The positive buoyancy diving autonomous vehicle combines the features of an Unmanned Surface Vessel (USV) and Autonomous Underwater Vehicle (AUV) for marine measurement monitoring. It can also be used to study reasonable efficient techniques underwater robots. In order optimization low power consumption high efficiency cruise motion vehicle, its dynamic modeling has been established. optimal cr...

This article discusses a control architecture for autonomous sailboat navigation and also presents a sailboat prototype built for experimental validation of the proposed architecture. The main goal is to allow long endurance autonomous missions, such as ocean monitoring. As the system propulsion relies on wind forces instead of motors, sailboat techniques are introduced and discussed, including...

In this paper we present a visual navigation system for retrieving untethered autonomous underwater vehicle (AW). The vision qstern guides the .4LV into a retriever which is a tethered underwater robot. The visual navigation modules include target searchin& line tracking, and positioning. The vision system is a dedicated parallel image processor composed of three T800 (Transputer). The processi...

In this paper, we consider the time minimal problem for an Autonomous Underwater Vehicle. We investigate, on a simplified model, the existence of singular extremals and discuss their optimality status. Moreover, we prove that singular extremals corresponding to the angular acceleration are of order 2. We produce in this case a semicanonical form of our Hamiltonian system and we can conclude the...

This paper treats the practical and challenging control problem of tracking a prescribed continuous trajectory for an autonomous vehicle in the presence of gravity, buoyancy, fluid dynamic and other forces and moments that are uncertain. These uncertain forces and moments are bounded and may be difficult to model accurately, but they act persistently or over long periods of time. The trajectory...