Autonomous Underwater Vehicles (AUVs) are attractive tools to survey earth science and oceanography, however, there exists a lot of problems to be solved such as motion control, acquisition of sensor data, decisionmaking, navigation without collision, self-localization and so on. In order to realize useful and practical robots, underwater vehicles should take their action by judging the changin...

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Sliding mode control, due to its robustness against modelling imprecisions and external disturbances, has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In order to improve the performance of the complete system, the discontinuity in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of a properly desig...

Underwater networking is a recently evolving technology which promises to provide the required infrastructure that will further cooperation amongst Unmanned Underwater Vehicles (UUVs). Underwater networks face extreme challenges of low bandwidth, high latency, and minimal energy resources. AUSI team has made its initial efforts to address the issues of underwater networks and as a result develo...

The use of an autonomous surface vehicle as an auxiliary agent to improve connectivity in a network of autonomous underwater vehicles is investigated. An algorithm is developed that consists of an optimal waypoint generator and a minimum-time guidance law that is used to steer the vehicle to the waypoint. This algorithm is used together with a communication architecture to improve underwater ve...

The successful ability to conduct underwater transportation using multiple autonomous vehicles (AUVs) is important for the commercial sector undertake precise installations on large modules, whilst military it has added advantage of improved secrecy clandestine operations. technical requirements are stability payload and internal collision avoidance while keeping track desired trajectory consid...

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This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles (AUVs). Whereas typical AUV navigation systems utilize pre-calibrated arrays of static transponders, our work seeks to create a fully mobile network of AUVs that perform acoustic ranging and data exchange with one another to achieve cooperative positioning for extended duration missions over...