Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at developing a cooperative multi-AUV system for limnological surveying. Current underwater sensing techniques rely on manually deploying sensor probes, a tedious process that provides data at limited resolutions. In contrast, multiple robots equipped with measurement probes and operating in parallel can quickly obtain high-resolution 3D environmental snapshots – essential to capture small-scale, fast-changing phenomena. Several methods exist in literature for such cooperative sensing strategies with aerial and ground robots. However, underwater environments pose additional challenges, primarily with regard to navigation and communication. Considering the complexity and cost of existing solutions for large marine AUVs, a cooperative system with miniature AUVs calls for developing novel techniques. We aim to address the aforementioned challenges within this project. Subsequently, we intend to study how we can exploit in-water cooperation among several AUVs for improving navigation as well as quality and efficiency of the data gathering process.
Team and Collaborators
In collaboration with:
- Physics of Aquatic Systems Laboratory (APHYS) at EPFL
- Microbial Ecology group, Department F.-A. Forel for Environmental and Aquatic Sciences at University of Geneva
Sponsors and Research Period
This project started in August 2016.
It is sponsored by the Sinergia, Swiss National Science Foundation for a period of four years.
Related Student Projects and Internships
DISAL-SP129: Hannes Kaspar Rovina, Cooperative Localization for a Swarm of AUVs
DISAL-SP125: Paul Callens, Underwater AUV localization
DISAL-SP124: Darko Lukic, Underwater Acoustic Communication
DISAL-SP119: Fabian Schulz, Cooperative Localization for a Swarm of AUVs
DISAL-SP114: Mehdi Nejjar, Framework for Underwater Positioning with Acoustic Beacons
DISAL-SP105: Jean-François Burnier, Sigma-Point Kalman Filtering for State Estimation
DISAL-SU26: Ahmed Saadallah, Framework for acoustic localization for AUVs
DISAL-SP93: Alberto Arrighi, Formation Control of Autonomous Boats
DISAL-IP30: Anwar Quraishi, Robust Position Estimation for Autonomous Underwater Vehicles
Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles2021-09-27. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic (Online), Sep 27- Oct 1, 2021. p. 4374-4381. DOI : 10.1109/IROS51168.2021.9636659.
Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization2021-09-27. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, Sep 27- Oct 1, 2021. p. 4343-4349. DOI : 10.1109/IROS51168.2021.9636703.
Underwater propelling device for underwater vehicle
ES2733339; CN107207083; EP3218259; HK1243392; CN107207083; EP3218259; WO2016075631; US9227709.2016.