The interest in deployment of multiple autonomous underwater vehicles (AUVs), such as AUV swarms, has been increasing. AUV swarms can reduce mission completion times and increase the system reliability. One of the basic constraints of these multiple vehicle systems is the limited communication between AUVs through the very challenging underwater acoustic channel. Even though reliable point-to-p...

The Norwegian Experimental Remotely Operated Vehicle (NEROV) is described. The vehicle is designed and built at the Department of Engineering Cybernetics , The Norwegian Institute of Technology (NTH). The NEROV vehicle is an unmanned autonomous underwater vehicle (AUV) especially designed for testing advanced intelligent and conventional control algorithms. The vehicle is autonomous with respec...

Marine Autonomous Vehicles, either Surface (ASV) or Underwater (AUV) are becoming the kingpin for ocean research and sea exploration. Long term and high persistence are highly desirable characteristics for adding to these autonomous platforms. The possibility of performing adequate tasks by using low cost underwater vehicles could multiply the number of agents in the area and therefore, providi...

This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy c...

This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term ...

recently, data collection from seabed by means of underwater wireless sensor networks (uwsn) has attracted considerable attention. autonomous underwater vehicles (auvs) are increasingly used as uwsns in underwater missions. events and environmental parameters in underwater regions have a stochastic nature. the target area must be covered by sensors to observe and report events. a ‘topology cont...

This paper describes the 2008 and 2009 Antarctic deployments of the National Aeronautics and Space Administration ENDURANCE autonomous underwater vehicle (AUV). The goal of this project was to conduct three autonomous tasks beneath the ice cap 4 m thick of West Lake Bonney: first, to measure the three-dimensional (3D) water chemistry of the lake at prespecified coordinates; second, to map the u...

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allo...

This paper provides a brief survey on the control architectures used in the underwater system and robotics research for AUV application. Advantages and disadvantages of each scheme are discussed briefly in the context of performance evaluation, design flexibility and extensibility, sensor or command fusion and integration, robustness and effectiveness of task modules. There are many schemes ava...

This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a multirate neural control of an AUV trajectory using neural network model refer...