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Autonomous Underwater Robotic Vehicle Research at Stanford

Steve Rock
Stanford University


Place and Time

Adamson Wing, Baker Hall
Refreshments 3:15 pm
Talk 3:30 pm


Abstract

This talk will present recent results in the development of a vision-based
system for autonomous underwater robotic vehicles that provides both local
and global position sensing in unstructured environments. We have used
this vision-based system to demonstrate (1) vehicle positioning control
(station-keeping) (2) real-time sea-floor mapping (the building of video
mosaics from successive video frames), and (3) high-level, point-and-click
navigation. This system can enable a critical part of the interface
required between a remote user and a robotic vehicle exploring the depths
of distant oceans. It allows a user to issue commands (e.g. "pick that
up", "place an instrument there", "hover over that feature") based on a
very low data-rate communications link with the vehicle by allowing the
vehicle to perform the required closed-loop tasks under local control.
This system can also be (and has been) implemented as a pilot aid for
vehicles that are teleoperated.

Video will be shown for this system's use in the control of two robotic
vehicles: OTTER and Ventana. OTTER is a 2m long, hover-capable, autonomous
underwater robot that we operate in the test tank at the MBARI facilities.
Ventana is one of the ROVs (Remotely Operated Vehicles) used daily by the
MBARI scientists. Ventana is operated off its support ship, the Pt. Lobos,
in the Monterey Bay.


Speaker Biography

Stephen M. Rock is an Associate Professor at Stanford University. He
received his Ph.D. in Applied Mechanics from Stanford University in 1978.
He received his B.S. and M.S. in Mechanical Engineering from the
Massachusetts Institute of Technology in 1972. Dr. Rock's interests
include the development and experimental verification of advanced control
techniques for robotic and vehicle systems.

Speaker Appointments

For appointments, please contact the host, Reid Simmons, at
reids@ri.cmu.edu.