Concept

Véhicule sous-marin téléopéré

Publications associées (38)

Assessment of passive sampling for the monitoring of explosive residues in surface water

Sylvain Coudret, Luiz Felippe De Alencastro, Nicolas Estoppey

Between 1920 and 1967, approximately 8’200 tons of ammunition waste were dumped into several Swiss lakes. Previous studies based on grab sampling revealed traces of HMX, RDX and PETN in the water column of three studied lakes; however, these researches sho ...

2018

Adaptable Imaging Package for Remote Vehicles

David Andrew Barry, Jean-Luc Liardon

An easy-to-customize, low-cost solution for remote imagery is described. The system, denoted ImPROV (Imaging Package for Remote Vehicles), supports multiple cameras, live streaming, long-range encrypted communication using mobile networks, positioning and ...

2017

Supervisory teleoperation with online learning and optimal control

Sylvain Calinon

We present a general approach for online learning and optimal control of manipulation tasks in a supervisory teleoperation context, targeted to underwater remotely operated vehicles (ROVs). We use an online Bayesian nonparametric learning algorithm to buil ...

IEEE2017

A survey on tactical control algorithms for path tracking unmanned surface vehicles

Murat Kumru

In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater ve ...

IEEE2017

A Generative Model for Intention Recognition and Manipulation Assistance in Teleoperation

Sylvain Calinon, Ajay Kumar Tanwani

Performing remote manipulation tasks by teleoperation with limited bandwidth, communication delays and environmental differences is a challenging problem. In this paper, we learn a task-parameterized generative model from the teleoperator demonstrations us ...

2017

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

Learning assistive teleoperation behaviors from demonstration

Sylvain Calinon

Emergency response in hostile environments often involves remotely operated vehicles (ROVs) that are teleoperated as interaction with the environment is typically required. Many ROV tasks are common to such scenarios and are often recurrent. We show how a ...

2016

Calibration and deployment of POCIS and Chemcatcher for the monitoring of explosives on lake-bottom sediments

Luiz Felippe De Alencastro, Nicolas Estoppey

Between 1920 and 1967, approximatively 8000 tons of ammunition waste was dumped into some Swiss lakes. Previous studies based on grab sampling revealed small traces of cyclotetramethylenetetranitramine (HMX), cyclotrimethylenetrinitramine (RDX) and pentaer ...

2016

DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies

Sylvain Calinon, Ajay Kumar Tanwani

Underwater inspection and maintenance (e.g. in the oil & gas industry) are demanding and costly activities for which ROV based setups are often deployed in addition or in substitution to deep divers - contributing to operations risks and costs cutting. How ...

2015

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

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