In recent years, as offshore resources, not only fishery resources, including oil, natural gas, rare metals, and other minerals attract increasing attention, national surveys have been underway in the vast seas that surround Japan. IHI applied own robot technologies to take another step forward in achieving autonomous unmanned maritime systems for conducting detailed surveys at a water depth of...

of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy GUIDANCE AND CONTROL OF MARINE CRAFT: AN ADAPTIVE DYNAMIC PROGRAMMING APPROACH By Patrick S. Walters May 2015 Chair: Warren E. Dixon Major: Mechanical Engineering Advances in sensing and computational capabilities have enabled autonomous...

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant...

This paper discusses the requirements, design and operational aspects of the Unmanned Marine Vehicles (UMVs), namely the Romeo Remotely Operated Vehicle (ROV) and the Charlie Unmanned Surface Vehicle (USV), developed at CNR-ISSIA, Genova, Italy for robotics research and scientific applications, pointing out the synergies between the development of underwater and surface unmanned vehicles.

Autonomous marine vehicles are remarkably useful for tasks such as shallow water surveying, environmental data collecting and military operations such as surveillance and weapon delivery. Because of the necessity for autonomous marine vehicles and the challenges they impose, they have gained a widespread interest among the research groups around the world. This paper presents a water surface au...

This paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the Coast Guard Collision Regulations (COLREGS). These rules are written to train and guide safe human operation of marine vehicles and are heavily dependent on human common sense in determining rule applicability as we...

This paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the Coast Guard Collision Regulations (COLREGS). These rules are written to train and guide safe human operation of marine vehicles and are heavily dependent on human common sense in determining rule applicability as we...

Successful command and control (C2) of autonomous vehicles poses challenges that are unique to the marine environment, primarily highly restrictive acoustic communications throughput. To address this, the Unified C2 architecture presented here uses a highly compressed short message encoding scheme (Dynamic Compact Control Language or DCCL) to transfer commands and receive vehicle status. DCCL i...

For many years there has been considerable interest by the scientific, offshore and naval sectors in the design and development of unmanned marine vehicles (UMVs) in order to perform a multitude of different tasks. Much advancement has been realized in this area, however, the need for advanced navigation, guidance and control (NGC) systems for UMVs continues to grow as these sectors now demand ...