24 research outputs found

    Recent Advances in Multi Robot Systems

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    To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

    Multi-Robot Coverage Path Planning for Inspection of Offshore Wind Farms: A Review

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    Offshore wind turbine (OWT) inspection research is receiving increasing interest as the sector grows worldwide. Wind farms are far from emergency services and experience extreme weather and winds. This hazardous environment lends itself to unmanned approaches, reducing human exposure to risk. Increasing automation in inspections can reduce human effort and financial costs. Despite the benefits, research on automating inspection is sparse. This work proposes that OWT inspection can be described as a multi-robot coverage path planning problem. Reviews of multi-robot coverage exist, but to the best of our knowledge, none captures the domain-specific aspects of an OWT inspection. In this paper, we present a review on the current state of the art of multi-robot coverage to identify gaps in research relating to coverage for OWT inspection. To perform a qualitative study, the PICo (population, intervention, and context) framework was used. The retrieved works are analysed according to three aspects of coverage approaches: environmental modelling, decision making, and coordination. Based on the reviewed studies and the conducted analysis, candidate approaches are proposed for the structural coverage of an OWT. Future research should involve the adaptation of voxel-based ray-tracing pose generation to UAVs and exploration, applying semantic labels to tasks to facilitate heterogeneous coverage and semantic online task decomposition to identify the coverage target during the run time.</jats:p

    Modular Underwater Robots - Modeling and Docking Control

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    Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

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    Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

    Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

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    Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

    Next Generation European Research Vessels: Current Status and Foreseeable Evolution

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    The European research vessel fleet plays a vital role in supporting scientific research and development not just in Europe but also across the globe. This document explores how the fleet has developed since the publication of the European Marine Board Position Paper 10 (EMB PP 10) "European Ocean Research Fleets – Towards a Common Strategy and Enhanced Use" (Binot et al., 2007). It looks at the current fleet and its equipment and capabilities (Chapter 2), the deep sea (Chapter 3) and Polar regions (Chapter 4) as study areas of ever- increasing importance for science and for the vessels that explore them, the role that research vessels play in the wider ocean observing landscape (Chapter 5), the importance of training personnel for research vessels (Chapter 6), and considers management of the European research vessel fleet (Chapter 7). This Position Paper considers what has changed since 2007, what the status is in 2019, and future directions for the European fleet, with a 10-year horizon to 2030. This Position Paper finds that the current European research vessel fleet is highly capable, and is able to provide excellent support to European marine science and wider scientific research and can lead on the world stage. However, with a typical life expectancy of a research vessel of 30 years, the fleet is ageing and urgently requires further investment and reinvestment to continue to be as efficient and capable as the scientific community expects and requires. The capabilities of the fleet have increased considerably since 2007, and vessels have kept up with fast-paced technological developments. The demand for complex and highly capable vessels will continue, and research vessel designs and the fleet as a whole will need to keep pace in order to remain fit-for-purpose and continue to be a key player globally. There is huge diversity in vessel types and designs in terms of capabilities and equipment, management structures and processes, and training possibilities. While it would not be possible or appropriate to highlight any one approach as the only one to use, a growing trend in collaboration through community groups, agreements, legal entities and funded projects now enables more strategic thinking in the development of these vital infrastructures. However, some issues remain in enabling equal access to research vessel time for all researchers across Europe regardless of country, and regardless of whether or not that country owns a suitable research vessel for their scientific needs

    INTEROPERABILITY FOR MODELING AND SIMULATION IN MARITIME EXTENDED FRAMEWORK

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    This thesis reports on the most relevant researches performed during the years of the Ph.D. at the Genova University and within the Simulation Team. The researches have been performed according to M&S well known recognized standards. The studies performed on interoperable simulation cover all the environments of the Extended Maritime Framework, namely Sea Surface, Underwater, Air, Coast & Land, Space and Cyber Space. The applications cover both the civil and defence domain. The aim is to demonstrate the potential of M&S applications for the Extended Maritime Framework, applied to innovative unmanned vehicles as well as to traditional assets, human personnel included. A variety of techniques and methodology have been fruitfully applied in the researches, ranging from interoperable simulation, discrete event simulation, stochastic simulation, artificial intelligence, decision support system and even human behaviour modelling
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