In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of modelbased controllers. To this purpose, we formulate the depth control problems of the AUV as continuous-state, continuous-action Markov decision processes (MDPs) under un...

AUV has undergone a major leap as technology allows higher integration, while faster sensors and actuators and new modelling techniques and its corresponding control algorithms are available. One of the new improvements of AUV technology is the capability to produce dexterous motion using robot manipulators as its end effector. This robot manipulator behaves as a multi-degrees of freedom active...

This work describes optimization of a field-tested jelly tracking system to enable AUV deployment under tight energy constraints. Inspired by research in marine biology, the task of long duration jellyfish tracking poses both an opportunity and a significant challenge for the AUV community. AUVs offer the potential for extended midwater deployments, enabling observation of natural phenomena dur...

This paper introduces a new kinematic model to describe the planar motion of an Autonomous Underwater Vehicle (AUV) moving in constant current flows. The AUV is modeled as a rigid body moving at maximum attainable forward velocity with symmetric bounds on the control input for the turning rate. The model incorporates the effect a flow will induce on the turning rate of the AUV due to the non-sy...

This paper demonstrates the modeling of seawater acoustic channel to obtain the optimum carrier frequency for autonomous underwater vehicle (AUV) wireless communication system. The wireless communication distance of an AUV with its control vessel changes due to the mission at different depths. Current AUV is designed with an operating depth of 0 to 2000m. Therefore, the existing model had limit...

Traditional approaches to AUV collision avoidance involve the adaptation of COTS electronic scanning sonars that have been designed for applications where low power is not a consideration. This has an adverse impact on the endurance and performance of the AUV. The navigation and obstacle avoidance processing is typically performed by the vehicle control processor, acting on large volumes of dat...

utonomous Underwater Vehicles (AUVs) share common A control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four...

This paper evaluates the added resistance of a torpedo shape AUV, moving inside a water pipeline, due to wall effects within the tube. Today, there are long length pipelines of water or petroleum that need to regular inspection. Early detection of failure will help to prevent breakdown and avoid the huge cost of an accident. As pipelines are enclosed environments and difficult to access, pipeli...

Even though a lot of research has been devoted towards AUVs in the West, the developing Eastern nations like India lack programs for development of AUV technologies that would better position them to understand their oceans. As such, the Indian Underwater Robotics Society started development of the first Indian AUV that would be portable and low cost while having widespread applications in acad...

In this paper we present the concept of a multi-AUV system interconnected by a smart cable that contains 3-D positioning sensors for rapid inspection of large underwater structures in a limited mission timeframe. The smart cable provides not only the position of the end-points (AUV locations) but also its own shape in real-time, while also acting as a communication link between AUV. Using this ...