Unmanned surface vehicles: An overview of developments and challenges

Automatic Red-Channel underwater image restoration

To celebrate the 40th Anniversary of the Oceanic Engineering Society (OES) at the MTS/IEEE OCEANS 2008 Conference in Quebec City a series of review papers were requested from OES technical committee chairs. In response to that request this paper provides a review of the field of unmanned surface vehicles (USVs) and autonomous surface craft (ASCs). The paper discusses the enabling technologies that have allowed USVs to emerge as a viable platform for marine operations as well as the application areas where they offer value. The paper tracks developments in technology from early systems developed by the author in 1993 through the latest developments and demonstration programs. The future outlook for USV technology is also described.

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Unmanned surface vehicles, 15 years of development

Robotics and autonomous systems

In September 2015, the United Nations General Assembly accepted the 2030 Development Agenda, which has included 92 paragraphs, and the Paragraph 91 defined 17 sustainable development goals (SDGs) and 169 associated targets. The goal of this paper is to discover the correlations among SDGs and information and communications technologies (ICTs). This paper discusses the roles and opportunities that ICTs play in pursuing the SDGs. We identify a number of research gaps to those three pillars, social, economic, and environmental perspectives, of sustainable development. After extensive literature reviews on the SDG-related research initiatives and activities, we find that the majority of contributions to SDGs recognized by the IEEE and ACM research communities have mainly focused on the technical aspects while there are lack of the holistic social good perspectives. Therefore, there are essential and urgent needs to raise the awareness and call for attentions on how to innovate and energize ICTs in order to best assist all nations to achieve the SDGs by 2030.

Information and Communications Technologies for Sustainable Development Goals: State-of-the-Art, Needs and Perspectives

The use of unmanned marine robotic vehicles in bathymetric surveys is discussed. This paper presents recent results in autonomous bathymetric missions with the ROAZ autonomous surface vehicle. In particular, robotic surface vehicles such as ROAZ provide an efficient tool in risk assessment for shallow water environments and water land interface zones as the near surf zone in marine coast. ROAZ is an ocean capable catamaran for distinct oceanographic missions, and with the goal to fill the gap were other hydrographic surveys vehicles/systems are not compiled to operate, like very shallow water rivers and marine coastline surf zones. Therefore, the use of robotic systems for risk assessment is validated through several missions performed either in river scenario (in a very shallow water conditions) and in marine coastlines.

Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle

A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. We address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions.

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Development and implementation of a low-cost LBL navigation system for an AUV

This work presents the integration of obstacle detection and analysis capabilities in a coherent and advanced C&C framework allowing mixed-mode control in unmanned surface systems. The collision avoidance work has been successfully integrated in an operational autonomous surface vehicle and demonstrated in real operational conditions. We present the collision avoidance system, the ROAZ autonomous surface vehicle and the results obtained at sea tests. Limitations of current COTS radar systems are also discussed and further research directions are proposed towards the development and integration of advanced collision avoidance systems taking in account the different requirements in unmanned surface vehicles

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Radar based collision detection developments on USV ROAZ II

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

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Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

The design and development of the swordfish autonomous surface vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).

Alfredo Martins

Papers

Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle

Development and implementation of a low-cost LBL navigation system for an AUV

Radar based collision detection developments on USV ROAZ II

Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

SWORDFISH: an Autonomous Surface Vehicle for Network Centric Operations