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Hydrobatics: A Review of Trends, Challenges and Opportunities for Efficient and Agile Underactuated AUVs
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.ORCID iD: 0000-0001-7542-3225
2018 (English)In: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, Institute of Electrical and Electronics Engineers Inc. , 2018Conference paper, Published paper (Refereed)
Abstract [en]

Hydrobatics refers to agile maneuvering of under-water vehicles just like aerobatics represents agile maneuvering of aerial vehicles. Performance trade-offs between flight and hover style autonomous underwater vehicles (AUVs) means that either maneuverability or range is compromised. Hydrobatic capabilities in flight style AUVs can bridge this gap and lead to more efficient and agile vehicles; thereby encouraging disruptive designs. As this is a relatively new area of research with very limited published research work, the focus of this paper is to present a multidisciplinary literature review to provide a path forward for further research. Relevant impact areas in ocean production, environmental sensing and security are discussed. Technical challenges are described in underactuated control and flight dynamics modeling. Synergies and opportunities are explored with aerospace engineering, robotics and artificial intelligence. As a part of this study, a simulation and verification framework is suggested and ongoing work is presented.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2018.
Keywords [en]
Autonomous Underwater Vehicles, Docking, Flight Control, Flight Dynamics, Hydrobatics, Intelligent Control, Perception, Swarms, System Identification, Underactuated Robotics, Antennas, Autonomous vehicles, Bridges, Economic and social effects, Engineering research, Identification (control systems), Maneuverability, Robotics, Sensory perception, Autonomous underwater vehicles (AUVs), Environmental sensing, Multidisciplinary literature reviews, Underactuated, Verification framework
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262398DOI: 10.1109/AUV.2018.8729805ISI: 000492901600103Scopus ID: 2-s2.0-85068345211ISBN: 9781728102535 (print)OAI: oai:DiVA.org:kth-262398DiVA, id: diva2:1365400
Conference
2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 6-9 November 2018, Porto, Portugal
Note

QC 20191024

Available from: 2019-10-24 Created: 2019-10-24 Last updated: 2019-11-26Bibliographically approved

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Bhat, SriharshaStenius, Ivan

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