Sensor-based behavior control for an autonomous underwater vehicle

Gregory Dudek, Philippe Giguere, Junaed Sattar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationExperimental Robotics
Subtitle of host publicationThe 10th International Symposium on Experimental Robotics
EditorsOussama Khatib, Vijay Kumar, Daniela Rus
Number of pages10
StatePublished - 2008

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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