RAUVI (Reconfigurable AUV for Intervention Missions): the envisioned mission concept.

This video shows simulation results of the RAUVI project concerning specification, planning and control of autonomous intervention missions in underwater environments. The user first specifies the task to perform on a target object found on a seabed image mosaic previously obtained during a survey. Then, a suitable vehicle position and arm configuration is planned in order to guarantee a successful manipulation. After the vehicle reaches the planned destination, the actual view of the object is matched to the one used for the specification, and the grasp points are tracked, enabling visual servoing of the manipulator end-effector. This project is being carried out in collaboration with 'Universitat de Girona' and 'Universitat de les Illes Balears'.

Category:

Science & Technology

Tags:

• Autonomous Robots
• Underwater Robots
• Simulation
• Human-Robot Interface
• Robotic manipulation