TY - GEN
T1 - Sensor-based behavior control for an autonomous underwater vehicle
AU - Dudek, Gregory
AU - Giguere, Philippe
AU - Sattar, Junaed
PY - 2008
Y1 - 2008
N2 - In this paper, we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew, and finally orientation and motion of the vehicle through a hovering mode. The visual processing consist of target tracking using various techniques (color blob, color histogram and mean shift). The underwater communication is achieved through printed cards with virtual markers (ARTag). Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
AB - In this paper, we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew, and finally orientation and motion of the vehicle through a hovering mode. The visual processing consist of target tracking using various techniques (color blob, color histogram and mean shift). The underwater communication is achieved through printed cards with virtual markers (ARTag). Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
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U2 - 10.1007/978-3-540-77457-0_25
DO - 10.1007/978-3-540-77457-0_25
M3 - Conference contribution
AN - SCOPUS:38949214703
SN - 9783540774563
T3 - Springer Tracts in Advanced Robotics
SP - 267
EP - 276
BT - Experimental Robotics
A2 - Khatib, Oussama
A2 - Kumar, Vijay
A2 - Rus, Daniela
ER -