The research of Underwater Acoustic Networks (UANs) is attracting attention due to their important underwater applications for military and commercial purposes. Underwater wireless communication networks (UWCNs) consist of sensors and autonomous underwater vehicles (AUVs) that interact, coordinate and share information with each other to carry out sensing and monitoring functions. In last sever...

This paper reports on an exact real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a ‘server’ vehicle to aid the navigation of multiple ‘client’ vehicles via a novel representation of the server’s pose-graph that is robust to communication packet loss....

Underwater gliders are type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, vertical motion can be achieved. Characteristic of glider motions include upward and downward in a saw tooth pattern, turning and gliding in a vertical spiral motion glides without using thrusters or prope...

Two kinds of configuration schemes about eight and ten single-axis vector magnetometers are put forward on the basis of describing the principle of underwater magnetic field localization. The measurement equations of magnetic field magnitude and gradients are educed on condition of two configuration schemes, and that the calculated precisions of both magnetic field magnitude and gradients are c...

By Chee Sing Lee, Sharad Nagappa, Narcis Palomeras, Daniel E. Clark, and Joaquim Salvi An Underwater Vehicle Application T he random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework w...

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

This paper describes a feasibility study that is included with the research, development and testing of a micro communications sonobuoy deployable by Maritime Fixed wing Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters which are both currently being developed by the University of Adelaide. The micro communications sonobuoy is developed to act as a seamless communication relay betwee...

Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board po...

This paper describes a virtual collaborative world simulator, DVECS (Distributed Virtual Environment Collaborative Simulator), for underwater robots and its underwater vehicle, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). DVECS is used for testing unmanned underwater vehicles (UUVs) of both real and simulated worlds where interaction and cooperation of other real and s...

This paper documents research exploring the issues in using visual sensing to control an underwater robot. The local nature of visual sensing makes it useful for underwater situations in which the exact global location of the robot is not accurately known. In these situations, the relative measurement obtained from visual sensing can be used for precise control of the vehicle. To perform visual...