Underwater environment and autonomous underwater vehicles

In mobile robotics, trajectory planning research has focussed on wheeled robots moving on surfaces equipped with high rate communication modules. The underwater environment is much more demanding: it is difficult to communicate because of low bandwidth channels undersea; it is prone to currents; and the three dimensional workspace may be worldwide. Moreover, torpedo-like vehicles are strongly nonholonomic.

The current state of technology allows many laboratories such as the Oceans Systems Laboratory to move forward in the development of AUVs. The need for a reliable cognition process for finding a feasible trajectory derived from underwater imagery is important.

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