A series of free running tests of ISiMI was carried out in the OEB. The test was intended to determine ISiMI's maneuvering characteristics and to validate its basic functions as a test-bed AUV. The results might be used as references for the design of high-level control algorithms such as path planning or of the guidance system of ISiMI. ISiMI was easily launched without any special device, as shown in Fig. 10. The image tracking system of CPMC gathered the velocity and position of ISiMI during the free running test.
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