Name
Abstract | ||
|---|---|---|
Due to extreme and unpredictable conditions, oceanic missions are still a persistent challenge in robotics. With the aim of improving decision autonomy and robustness against unforeseen circumstances, the EU-funded CoCoRo project is developing a cognitive swarm of underwater robots. Swarm and cognition algorithms will be studied and validated with a large number of miniaturized and affordable AUVs, named Jeff, whose custom mechanical design is described in this paper. Jeff is conceived for high-mobility in 3D cluttered environments and has distributed sensors for multi-directional perception and communication. The propulsion and the buoyancy systems are designed with watertight and energetically efficient solutions to improve system reliability and energetic autonomy. The manuscript also describes the design of a docking system that allows Jeff to passively align and connect to a submerged docking station for battery charging. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907282 | Robotics and Automation |
Keywords | Field | DocType |
design engineering,mobile robots,multi-robot systems,robot dynamics,sensors,underwater vehicles,3D cluttered environments,EU-funded CoCoRo project,battery charging,buoyancy system,distributed sensors,docking system,mechatronic design,miniature underwater robot,oceanic missions,propulsion system,swarm operations,underwater robots cognitive swarm | Robot control,Propulsion,Swarm behaviour,Docking station,Control engineering,Robustness (computer science),Artificial intelligence,Engineering,Mechatronics,Mobile robot,Robotics | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 0.50 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| S Mintchev | 1 | 68 | 8.43 |
| Donati, E. | 2 | 21 | 5.55 |
| S Marrazza | 3 | 15 | 1.92 |
| Cesare Stefanini | 4 | 188 | 45.66 |