PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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The SeaBED AUV --- A platform for high resolution imaging

Summary


Hanumant Singh, Ryan Eustice, Chris Roman and Oscar Pizarro, The SeaBED AUV --- A platform for high resolution imaging. In Unmanned Underwater Vehicle Showcase, Southampton, UK, September 2002.

Abstract

The SeaBED autonomous underwater vehicle (AUV) is a new imaging platform designed for high resolution optical and acoustic sensing. This low cost vehicle has been specifically designed for use in waters upto 2000 meters to carry out video transects, bathymetric and side-scan sonar surveys. In this paper we detail the systems issues associated with navigation, control, and imaging that led us to our particular hardware and software design choices so as to allow us to operate in shallow, shelf and ocean basin environments.

Bibtex entry

@INPROCEEDINGS { hsingh-2002c,
    AUTHOR = { Hanumant Singh and Ryan Eustice and Chris Roman and Oscar Pizarro },
    TITLE = { The {SeaBED} {AUV} --- A platform for high resolution imaging },
    BOOKTITLE = { Unmanned Underwater Vehicle Showcase },
    YEAR = { 2002 },
    MONTH = { September },
    ADDRESS = { Southampton, UK },
}