Title :
Human-guided autonomy for acoustically tethered underwater vehicles
Author :
Murphy, Chris ; Singh, Hanumant
Author_Institution :
Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Instn., Woods Hole, MA, USA
Abstract :
Recent under-ice Arctic AUV expeditions have shown that polar operations require careful coordination between subsea vehicles and surface ships during vehicle recovery. In addition, the complexity of AUV launches and recoveries encourages telemetering AUV science data to allow scientists greater decision-making power while an AUV dive is underway. Reliable underwater communication, however, imposes strict bandwidth limitations. This paper presents a method for summarizing scalar vehicle science and state telemetry over low-bandwidth acoustic links, along with a topside display for presenting the data to surface observers.
Keywords :
decision making; remotely operated vehicles; telecommunication network reliability; underwater acoustic telemetry; underwater vehicles; AUV science data; acoustically tethered underwater vehicles; bandwidth limitations; decision-making; human-guided autonomy; low-bandwidth acoustic links; polar operations; reliable underwater communication; scalar vehicle science; state telemetry; subsea vehicles; surface observers; surface ships; topside display; under-ice Arctic AUV expeditions; vehicle recovery; Acoustical engineering; Automotive engineering; Humans; Marine vehicles; Oceans; Physics; Remotely operated vehicles; Sea surface; Telemetry; Underwater vehicles;
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
DOI :
10.1109/OCEANS.2008.5152028
