This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.
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Table of contents :
Front Matter ....Pages i-viii
Fast Fourier-Based Block-Matching Algorithm for Sonar Tracks Registration in a Multiresolution Framework (Florian Nicolas, Andreas Arnold-Bos, Isabelle Quidu, Benoît Zerr)....Pages 1-14
Adaptive Sampling with a Fleet of Autonomous Sailing Boats Using Artificial Potential Fields (Hadi Saoud, Frédéric Plumet, Faiz Ben Amar)....Pages 15-27
Underwater Robots Equipped with Artificial Electric Sense for the Exploration of Unconventional Aquatic Niches (Stéphane Bazeille, Vincent Lebastard, Frédéric Boyer)....Pages 29-50
Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition (Fabrice Le Bars, Elba Antonio, Jorge Cervantes, Carlos De La Cruz, Luc Jaulin)....Pages 51-68
Marine Robots in Environmental Surveys: Current Developments at ISME—Localisation and Navigation (Andrea Caiti, Riccardo Costanzi, Davide Fenucci, Benedetto Allotta, Francesco Fanelli, Niccolò Monni et al.)....Pages 69-86
Design and Control of an Autonomous Underwater Vehicle (AUV-UMI) (Adrian Manzanilla, Miguel Garcia, Rogelio Lozano, Sergio Salazar)....Pages 87-100
Secure a Zone from Intruders with a Group Robots (Khadimoullah Vencatasamy, Luc Jaulin, Benoît Zerr)....Pages 101-116
Comparison of Kalman and Interval Approaches for the Simultaneous Localization and Mapping of an Underwater Vehicle (Jérémy Nicola, Luc Jaulin)....Pages 117-136
Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance (O. Chocron, E. P. Vega, M. Benbouzid)....Pages 137-178

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