From market-ready ROVs to low-cost AUVs

Jonatan Scharff Willners; Ignacio Carlucho; Sean Katagiri; Chandler Lemoine; Joshua Roe; Dylan Stephens; Tomasz Luczynski; Shida Xu; Yaniel Carreno; Eric Pairet; Corina Barbalata; Yvan Petillot; Sen Wang

doi:10.23919/OCEANS44145.2021.9705798

From market-ready ROVs to low-cost AUVs

Jonatan Scharff Willners, Ignacio Carlucho, Sean Katagiri, Chandler Lemoine, Joshua Roe, Dylan Stephens, Tomasz Luczynski, Shida Xu, Yaniel Carreno, Eric Pairet, Corina Barbalata, Yvan Petillot, Sen Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of AUVs restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. In this article, we present how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs. We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.

Original language	English
Title of host publication	OCEANS 2021: San Diego - Porto
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	7
ISBN (Electronic)	978-0-692-93559-0
ISBN (Print)	978-1-6654-2788-3
DOIs	https://doi.org/10.23919/OCEANS44145.2021.9705798
Publication status	Published - 15 Feb 2022
Event	OCEANS 2021: San Diego - Porto - San Diego, United States Duration: 20 Sep 2021 → 23 Sep 2021

Publication series

Name	OCEANS
Publisher	IEEE
ISSN (Print)	0197-7385

Conference

Conference	OCEANS 2021: San Diego - Porto
Country/Territory	United States
City	San Diego
Period	20/09/21 → 23/09/21

Keywords

Autonomous Underwater Vehicle
Autonomy
Hardware
Remotely Operated Vehicle
Robot Operating System
Underwater Manipulation

Access to Document

10.23919/OCEANS44145.2021.9705798Licence: All Rights Reserved

https://ieeexplore.ieee.org/document/9705798Licence: All Rights Reserved

Cite this

@inproceedings{01e1b520e0884cc7b4b68d2ae7ac1980,

title = "From market-ready ROVs to low-cost AUVs",

abstract = "Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of AUVs restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. In this article, we present how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs. We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks. ",

keywords = "Autonomous Underwater Vehicle, Autonomy, Hardware, Remotely Operated Vehicle, Robot Operating System, Underwater Manipulation",

author = "Willners, {Jonatan Scharff} and Ignacio Carlucho and Sean Katagiri and Chandler Lemoine and Joshua Roe and Dylan Stephens and Tomasz Luczynski and Shida Xu and Yaniel Carreno and Eric Pairet and Corina Barbalata and Yvan Petillot and Sen Wang",

note = "Funding Information: This work was supported by the EPSRC funded ORCA Hub (EP/R026173/1) and EU H2020 Programme under EUMarineRobots project (grant ID 731103). Publisher Copyright: {\textcopyright} 2021 MTS.; OCEANS 2021: San Diego - Porto ; Conference date: 20-09-2021 Through 23-09-2021",

year = "2022",

month = feb,

day = "15",

doi = "10.23919/OCEANS44145.2021.9705798",

language = "English",

isbn = "978-1-6654-2788-3",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2021: San Diego - Porto",

address = "United States",

}

Willners, JS, Carlucho, I, Katagiri, S, Lemoine, C, Roe, J, Stephens, D, Luczynski, T, Xu, S, Carreno, Y, Pairet, E, Barbalata, C, Petillot, Y & Wang, S 2022, From market-ready ROVs to low-cost AUVs. in OCEANS 2021: San Diego - Porto. OCEANS, Institute of Electrical and Electronics Engineers Inc., OCEANS 2021: San Diego - Porto, San Diego, United States, 20/09/21. https://doi.org/10.23919/OCEANS44145.2021.9705798

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T1 - From market-ready ROVs to low-cost AUVs

AU - Willners, Jonatan Scharff

AU - Carlucho, Ignacio

AU - Katagiri, Sean

AU - Lemoine, Chandler

AU - Roe, Joshua

AU - Stephens, Dylan

AU - Luczynski, Tomasz

AU - Xu, Shida

AU - Carreno, Yaniel

AU - Pairet, Eric

AU - Barbalata, Corina

AU - Petillot, Yvan

AU - Wang, Sen

PY - 2022/2/15

Y1 - 2022/2/15

N2 - Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of AUVs restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. In this article, we present how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs. We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.

AB - Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of AUVs restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. In this article, we present how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs. We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.

KW - Autonomous Underwater Vehicle

KW - Autonomy

KW - Hardware

KW - Remotely Operated Vehicle

KW - Robot Operating System

KW - Underwater Manipulation

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U2 - 10.23919/OCEANS44145.2021.9705798

DO - 10.23919/OCEANS44145.2021.9705798

M3 - Conference contribution

AN - SCOPUS:85123332366

SN - 978-1-6654-2788-3

T3 - OCEANS

BT - OCEANS 2021: San Diego - Porto

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - OCEANS 2021: San Diego - Porto

Y2 - 20 September 2021 through 23 September 2021

ER -

From market-ready ROVs to low-cost AUVs

Abstract

Publication series

Conference

Keywords

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