dc.contributor
European Commission
dc.contributor
Agencia Estatal de Investigación
dc.contributor.author
Esteba Masjuan, Joan
dc.contributor.author
Cieśląk, Patryk
dc.contributor.author
Palomeras Rovira, Narcís
dc.contributor.author
Ridao Rodríguez, Pere
dc.date.accessioned
2024-10-29T20:45:13Z
dc.date.available
2024-10-29T20:45:13Z
dc.identifier
http://hdl.handle.net/10256/25091
dc.identifier.uri
http://hdl.handle.net/10256/25091
dc.description.abstract
This paper presents the design and development of a funnel-shaped Sparus Docking Station intended for the non-holonomic torpedo-shaped Sparus II Autonomous Underwater Vehicle. The Sparus Docking Station is equipped with sensors and batteries, allowing for a stand-alone long-term deployment of the vehicle. An inverted Ultra Short Base-Line system is used to locate the Docking Station as well as to provide long-term drift-less vehicle navigation. The Sparus Docking Station is able to observe the ocean currents using a Doppler Velocity Log, being motorized to allow its self-alignment with the current. Moreover, a docking algorithm accounting for the current is used to guide the robot during the docking maneuver. The paper reports consecutive successful experimental results of the docking maneuver in sea trials in two different countries
dc.description.abstract
Founded from the European Union's Horizon 2020 research and innovation programme, under the Grant Agreement number 871571. Also, in collaboration with the projects Platform for Long-lasting Observation of Marine Ecosystems PLEC2021-007525, Despliegue Permanente de Vehículos Submarinos Autónomos Bi-Manuales para la Intervención PID2020-115332RB-C32, and Vehículo Inalámbrico Híbrido Operador Autónoma/Remotamente—OPTHIROV PDC2021-120791-C21
dc.description.abstract
Open Access funding provided thanks to the CRUE-CSIC agreement with Wiley
dc.format
application/pdf
dc.relation
info:eu-repo/semantics/altIdentifier/doi/10.1002/rob.22310
dc.relation
info:eu-repo/semantics/altIdentifier/issn/1556-4959
dc.relation
info:eu-repo/semantics/altIdentifier/eissn/1556-4967
dc.relation
PID2020-115332RB-C32
dc.relation
PDC2021-120791-C21
dc.relation
info:eu-repo/grantAgreement/EC/H2020/871571/EU/The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures/ATLANTIS
dc.relation
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-115332RB-C32/ES/DESPLIEGUE PERMANENTE DE VEHICULOS SUBMARINOS AUTONOMOS BI-MANUALES PARA LA INTERVENCION/
dc.relation
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PDC2021-120791-C21/ES/VEHICULO INALAMBRICO HIBRIDO OPERADO AUTONOMA%2FREMOTAMENTE/
dc.rights
Attribution-NonCommercial-NoDerivatives 4.0 International
dc.rights
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights
info:eu-repo/semantics/openAccess
dc.source
Journal of Field Robotics, 2024, vol. 41, núm. 6, p. 1765-1779
dc.source
Articles publicats (D-ATC)
dc.subject
Robots autònoms
dc.subject
Autonomous robots
dc.subject
Vehicles submergibles
dc.title
Sparus Docking Station: A current aware docking station system for a non-holonomic AUV
dc.type
info:eu-repo/semantics/article
dc.type
info:eu-repo/semantics/publishedVersion
