IEEE Robotics & Automation Magazine - September 2017 - 41

T

oday, autonomous underwater vehicles (AUVs) are mostly used for survey
missions, but many existing applications require manipulation capabilities, such as
the maintenance of permanent observatories, submerged oil wells, cabled sensor
networks, and pipes; the deployment and recovery of benthic
stations; or the search and recovery of black boxes. Currently,
these tasks require the use of work-class remotely operated vehicles
(ROVs) deployed from vessels equipped with dynamic
positioning, leaving such solutions expensive to adopt. To
face these challenges during the last 25 years, scientists
have researched the idea of increasing the autonomy of
underwater intervention systems.
Related Work
Pioneering work involving underwater vehiclemanipulator system (UVMS) technology first
appeared in the early 1990s (the list of references to
all of the projects cited in this article as well as a
broader introduction to the subject, can be
found in [1]),
), with the Ocean Technology
Testbed for Engineering Research at the
Monterey Bay Aquarium Research
Institute, Omni-Directional Intelligent Navigator at the University of Hawaii, and Vortex at the
Ifremer Mediterranean Center, but it was not until the
first decade of the 21st century that field demonstrations arrived. Experimental
results have demonstrated
two types of applications.

By Dina Youakim, Pere Ridao, Narcis Palomeras,
Francesco Spadafora, David Ribas, and Maurizio Muzzupappa

Object Search
and Recovery
The first result based on floating manipulation was achieved
in 2009 with the semi-AUV for
intervention missions project that
demonstrated the capability of searching for an object whose position was
roughly known a priori. The object was
endowed with artificial landmarks, and the
robot autonomously located and hooked it with a

MoveIt!
Autonomous Underwater Free-Floating Manipulation
Digital Object Identifier 10.1109/MRA.2016.2636369
Date of publication: 19 April 2017

1070-9932/17©2017IEEE

SEPTEMBER 2017

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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