Autonomous Underwater Intervention
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UNDERWATER ROBOTICS (G ANTONELLI, SECTION EDITOR)
Autonomous Underwater Intervention Enrico Simetti 1,2
# Springer Nature Switzerland AG 2020
Abstract Purpose of Review There is a growing interest and literature on autonomous underwater intervention systems. The purpose of this paper is to provide a review of the recent literature on control systems for autonomous or semi-autonomous underwater manipulation activities, classifying the results based on the type of task executed and the testing environment (simulation, pool, or sea). Recent Findings Amongst underwater intervention tasks, the grasping of objects lying on the seafloor is one of the most studied topics. Several results are given both in pool and sea environments. The perception of such objects might still need further improvements before the system can be considered robust enough. Manipulation of valves while docked has been demonstrated in sea environments. Results on floating valve manipulation or floating inspection through force regulation are still limited to pool environments. Finally, cooperative transportation by multiple agents is still limited to numerical simulation results only. Summary A review of the state of the art of underwater manipulation is presented. First an introduction is given, recalling the fundamental milestones reached in the past on this topic. Then, recent findings on control systems for (semi-)autonomous intervention are presented, subdivided in grasping, valve manipulation and force regulation tasks and cooperative manipulation. Some unconventional systems are also presented. Keywords Underwater vehicle manipulator systems . Intervention autonomous underwater vehicles . Underwater inspection . Underwater intervention . Autonomous underwater manipulation
Introduction Operations at sea are costly and demanding. The typical tasks performed in the offshore industry require the use of remotely operated vehicles (ROVs) deployed from a surface support vessel (SSV) and operated by a crew consisting at least of an intendant, an operator and a navigator, typically working in multiple shifts to operate full-time. As an example, the cost of ROV SSV for performing acoustic inspection of a pipeline can easily reach 50 k€ per day, as a recent survey highlighted [1]. The same operation, performed by two autonomous underwater vehicles (AUVs), operating in tandem, could This article is part of the Topical Collection on Underwater Robotics * Enrico Simetti [email protected] 1
Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Via Opera Pia 13, 16145 Genoa, Italy
2
Interuniversity Research Center on Integrated System for the Marine Environment, Via Opera Pia 13, 16145 Genoa, Italy
decrease the costs by up to 85%. Thanks to numerous breakthroughs, AUVs are now often used in a variety of survey and inspection tasks, e.g. in structural inspections [2], marine geology [3], archaeology [4] and plume tracking [5], and are now consistently featured in research programmes of major internati
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