This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying in the underwater environment. Moreover, the proposed control law adopts quaternions to represent attitude errors, and thus avoids representation singularities that occur when using instead Euler angles des...

Autonomous Underwater Vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of sub sea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an au...

In recent years underwater robotics has become a major area of research owing to the development of many diverse technologies. Autonomous underwater vehicles (AUVs) are used today for exploration, pipeline monitoring, military reconnaissance and other scientific tasks. AUVs can also be used effectively to teach principles in many disciplines of science ranging from physics to robotics. Any good...

The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during the design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of the most popular class of AUVs is discussed. An applicati...

This paper reports on an exact, real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a ‘server’ vehicle to broadcast its navigation information to multiple ‘client’ vehicles over a bandwidthlimited and faulty communication channel. The server’s broadcas...

The operation of Autonomous Underwater Vehicles (AUVs) within underwater sensor network fields provides an opportunity to reuse the network infrastructure for long baseline localisation of the AUV. Computationally efficient localisation can be accomplished using off-the-shelf hardware that is comparatively inexpensive and which could already be deployed in the environment for monitoring purpose...

This paper presents the design and experimental implementation of an L1 adaptive control on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is proposed to be applied for the first time in the field of underwater vehicles control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV u...

This paper presents an identification method for both off-line and on-line identification of non linear models of Unmanned Underwater Vehicles (UUVs). The proposed method can be applied to a quite general class of non linear multivariable models and is characterised by an excellent numerical performance, as illustrated through a simulated example. The validity of the proposed method is also dem...

vehicles. Sliding mode control was one of the fi rst control methods implemented for underwater vehicles. It has shown advantages in several implementations. Different control methodologies used for underwater vehicles are categorized by Fossen. In the work of Logan, H/msynthesis methods are compared with the sliding mode method. A comparison of different control techniques, including artifi ci...

The long term goals of the project are: (1) To establish systems and algorithms for controlled Lagrangian particle tracking that will be used to improve the accuracy of model based prediction of trajectories of controlled underwater vehicles subjected to ocean current. (2) To achieve a mission planning system for robotic underwater sensor networks that are able to perform automatic or semiautom...