TWINBOT: Autonomous Underwater Cooperative Transportation
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Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
comunitat-uji-handle4:
INVESTIGACIONMetadata
Title
TWINBOT: Autonomous Underwater Cooperative TransportationDate
2021-03-02Publisher
IEEEISSN
2169-3536Bibliographic citation
R. Pi, P. Cieślak, P. Ridao and P. J. Sanz, "TWINBOT: Autonomous Underwater Cooperative Transportation," in IEEE Access, vol. 9, pp. 37668-37684, 2021, doi: 10.1109/ACCESS.2021.3063669Type
info:eu-repo/semantics/articlePublisher version
https://ieeexplore.ieee.org/document/9367135Version
info:eu-repo/semantics/publishedVersionSubject
Abstract
Underwater Inspection, Maintenance, and Repair operations are nowadays performed using
Remotely Operated Vehicles (ROV) deployed from dynamic-positioning vessels, having high daily operational costs. During the last ... [+]
Underwater Inspection, Maintenance, and Repair operations are nowadays performed using
Remotely Operated Vehicles (ROV) deployed from dynamic-positioning vessels, having high daily operational costs. During the last twenty years, the research community has been making an effort to design new
Intervention Autonomous Underwater Vehicles (I-AUV), which could, in the near future, replace the ROVs,
significantly decreasing these costs. Until now, the experimental work using I-AUVs has been limited to a
few single-vehicle interventions, including object search and recovery, valve turning, and hot stab operations.
More complex scenarios usually require the cooperation of multiple agents, i.e., the transportation of large
and heavy objects. Moreover, using small, autonomous vehicles requires consideration of their limited load
capacity and limited manipulation force/torque capabilities. Following the idea of multi-agent systems,
in this paper we propose a possible solution: using a group of cooperating I-AUVs, thus sharing the load
and optimizing the stress exerted on the manipulators. Specifically, we tackle the problem of transporting
a long pipe. The presented ideas are based on a decentralized Task-Priority kinematic control algorithm
adapted for the highly limited communication bandwidth available underwater. The aforementioned pipe
is transported following a sequence of poses. A path-following algorithm computes the desired velocities
for the robots’ end-effectors, and the on-board controllers ensure tracking of these setpoints, taking into
account the geometry of the pipe and the vehicles’ limitations. The utilized algorithms and their practical
implementation are discussed in detail and validated through extensive simulations and experimental trials
performed in a test tank using two 8 DOF I-AUVs [-]
Is part of
IEEE Access, Vol. 9 (2021)Funder Name
Ministry of economy, industry, and competitiveness (Spain) | Generalitat Valenciana | Secretaria d’Universitats i Recerca del Departament d’Economia i Coneixement de la Generalitat de Catalunya
Project code
DPI2017-86372-C3 | IDIFEDER/2018/013 | 2019FI_B_00812
Project title or grant
TWINBOT ’’TWIN ROBOTS FOR COOPERATIVE UNDERWATER INTERVENTION MISSIONS’’ | CIRTESU Project
Rights
info:eu-repo/semantics/openAccess
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- ICC_Articles [424]
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