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Publications associées (15)

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Dario Floreano, Jun Shintake, Ryo Kanno, Bokeon Kwak, Markéta Pankhurst

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

2024

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Anwar Ahmad Quraishi

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 ...

EPFL2021

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Alcherio Martinoli, Anwar Ahmad Quraishi

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

2021

Combining active and passive acoustic methods to image hydraulic fracture growth in laboratory experiments

Brice Tanguy Alphonse Lecampion, Dong Liu, Seyyedmaalek Momeni

We combine active and passive acoustic measurements to improve the spatio- temporal imaging of hydraulic fracture growth performed under true triaxial confinement in the laboratory. 64 active piezo-electric transducers (54 P waves, 10 S waves) work in sour ...

IOP2021

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Dexterous Underwater Manipulation from Distant Onshore Locations

Sylvain Calinon, Ajay Kumar Tanwani

Underwater manipulation is a challenging problem. The state of the art is dominated by Remotely Operated Vehicles (ROV). ROV operations typically require an offshore crew consisting of at least an intendant, an operator, and a navigator. This crew often ha ...

2018

Autonomous Feature Tracing and Adaptive Sampling in Real-World Underwater Environments

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Applications of robots for gathering data in underwater environments has been limited due to the challenges posed by the medium. We have developed a miniature, agile, easy to carry and deploy Autonomous Underwater Vehicle (AUV) equipped with a suite of sen ...

IEEE2018

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due t ...

IEEE2016

Design and Implementation of a Range-Based Formation Controller for Marine Robots

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positionin ...

Springer International Publishing2014

Flexible triangular formation keeping of marine robotic vehicles using range measurements

Colin Neil Jones, Jorge Miguel Dias Almeida Rodrigues Soares, Francisco Fernandes Castro Rego

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but h ...

2014

Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios req ...

2013

Estimation of Relative Position and Coordination of Mobile Underwater Robotic Platforms through Electric Sensing

Auke Ijspeert, Mathieu Porez, Yannick Morel

In the context of underwater robotics, positioning and coordination of mobile agents can prove a challenging problem. To address this issue, we propose the use of electric sensing, with a technique inspired by weakly electric fishes. In particular, the app ...

Ieee2012

Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

Hannes Bleuler, Severin Stalder

Underwater navigation challenges the research community as a reliable navigation system is unavailable. Correctly matched landmarks could compensate the drift of dead reckoning navigation systems. Furthermore, they could be useful in side scan sonar image ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2008

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