Due to its applications in marine research, oceanographic, and undersea exploration, underwater communication has been recently under intense investigation. Although underwater communication has been improving its performance (in terms of bandwith, QoS, etc.), image transmission in autonomous underwater vehicles (AUVs) networks is still considered a frontier work. Here, we address the progressi...

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated underwater vehicles based. The adopted approach is developed using Lyapunov Stability Theory and enhanced by a neural network based algorithm for uncertainty and di...

This paper reports a comparative experimental evaluation of proportional derivative and adaptive modelbased control for underwater vehicles. To the best of the authors’ knowledge, this is the first such evaluation of modelbased adaptive tracking control for underwater vehicles during simultaneous dynamic motion in all 6 degrees-of-freedom. This experimental evaluation revealed the presence of u...

The paper presents algorithm of underwater vehicle’s dynamics modeling using technique of artificial neural networks. Paper includes mathematical description of used dynamical neurons and basis of its learning process. Next the results of research for real underwater vehicle were presented. Key-Words: artificial neural networks, dynamics modeling, underwater vehicles

Conventional underwater sensors are not well suited to the task of aiding unmanned underwater vehicles to hover. These sensors suffer from several drawbacks such as low sampling rates, low resolution, complexity of operations, drift and cost. Underwater video cameras, however, can provide local measurements of position with respect to a local object. Underwater vision presents several challenge...

Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...

Autonomous Underwater Vehicles (AUV) speed and position control systems are subjected to an increased focus with respect to performance and safety due to their increased number of commercial and military application as well as research challenges in past decades, including underwater resources exploration, oceanographic mapping, undersea wreckage salvage, cable laying, geographical survey, coas...

This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pi...

Maritime Platforms Division within DSTO is currently studying the emerging science and technology of autonomous underwater vehicles for defence applications. As part of an examination of the requirements for the hydrodynamics and manoeuvrabilty of these vehicles MPD has been tasked with the development of models to determine the hydrodynamic coefficients of simple and complex submerged bodies a...

Research on the autonomous underwater vehicles (AUVs) has been gaining more interest in the recent past. AUVs have been envisioned as a cost effective and safe solution for various underwater missions including but are not limited to underwater scientific test-bed, deep oceanic surveillance, environmental monitoring and underwater structures inspection. The control for such autonomous vehicles,...