This paper presents coordination and data fusion methods for teams of vehicles performing target search tasks without guaranteed communication. A fully distributed team planning algorithm is proposed that utilizes limited shared information as it becomes available, and data fusion techniques are introduced for merging estimates of the target’s position from vehicles that regain contact after lo...

Biomimetic Autonomous Underwater Vehicles (BAUVs) are Autonomous Underwater Vehicles (AUVs) that employ similar propulsion and steering principles as real fish. While the real life applicability of these vehicles has yet to be fully investigated, laboratory investigations have demonstrated that at low speeds, the propulsive mechanism of these vehicles is more efficient when compared with propel...

Motivation: The two motivating applications are autonomous control of unmanned underwater vehicles and a maneuver decision aid for manned underwater vehicles (US nuclear submarines). The first is challenging due to the complete lack of a man-in-the-loop, and the second is challenging since the decision recommendations potentially affect the lives of the crew and generated decisions must compete...

a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...

Maritime Platforms Division within DSTO is currently studying the science and technology of autonomous underwater vehicles for defence applications. Part of this work involves a study of the hydrodynamics and manoeuvrability of these vehicles and the development of methods to determine the hydrodynamic coefficients of submerged bodies as a function of their shape. This report describes the appl...

We are developing autonomous underwater vehicles for exploration and inspection tasks. Our objectives are to enable these submersible robots to autonomously search in regular patterns, follow along fixed natural and artificial features, and swim after dynamic targets. We have developed a method of visually-guiding autonomous land vehicles using correlationbased feature tracking to follow target...

Traditionally, deliberative reasoning methods based on a world model have been used to guide Autonomous Vehicles. Nevertheless, due to serious problems when dealing with complex and changing environments the alternative approach of reactive architectures appeared, directly coupling perception and action without any world representation. This paper describes the characteristics and variants of r...

The main objective of this project is to explore the possibility of using Multiple Autonomous Underwater Vehicles for increasing the performance of underwater optical imaging systems. The main objective, in this context, is to simulate the potential benefits that multiple vehicles can have in increasing the range, imaging footprint, and potentially 3-dimensional applications that can be afforde...

The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For a truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element, which generates suitable trajectories to be followed. In this survey paper, various guidance laws found in the literature and their...