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State of the Art in Marine Robotics
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State of the Art in Marine Robotics

A special issue of Journal of Marine Science and Engineering (ISSN 2077-1312). This special issue belongs to the section "Ocean Engineering".

Deadline for manuscript submissions: closed (15 January 2022) | Viewed by 9292

Special Issue Editor

Dr. David Moreno-Salinas

E-Mail Website
Guest Editor
Department of Computer Science and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), 28040 Madrid, Spain
Interests: localization; control; sensor networks; marine vehicles; identification and modelling
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Marine robotics research aims to design, develop, and provide support to the operation of marine systems for scientific and academics research, as well as commercial applications. In this sense, marine robotics systems have emerged as standard tools to explore the ocean and to carry out many challenging tasks and missions. This Special Issue will provide a comprehensive overview of the state of the art of marine robotics. We invite research articles that will consolidate our understanding of this area. The Special Issue will publish full research papers and reviews about the latest experiments, applications, advances, and challenges in the field. Potential topics include, but are not limited to the following:

  • Autonomous underwater and surface vehicles (AUVs, USVs), remotely operated vehicles (ROVs);
  • Guidance, navigation, and path planning;
  • Control, modeling, and simulation;
  • Fault diagnosis and fault tolerance;
  • Sensor networks, underwater sensing;
  • SLAM, localization, and tracking;
  • Cooperative surface and underwater vehicles;
  • Machine learning methods for marine robotics;
  • Communication systems;
  • Applications, case studies, field trials, and experimental results.

Dr. David Moreno-Salinas
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Autonomous underwater and surface vehicles (AUVs, USVs), remotely operated vehicles (ROVs)
  • Guidance, navigation, and path planning
  • Control, modeling, and simulation
  • Fault diagnosis and fault tolerance
  • Sensor networks, underwater sensing
  • SLAM, localization, and tracking
  • Cooperative surface and underwater vehicles
  • Machine learning methods for marine robotics
  • Communication systems
  • Applications, case studies, field trials, and experimental results

Published Papers (4 papers)

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Research

15 pages, 4206 KiB  
Article
A Novel Adaptive Factor-Based H∞ Cubature Kalman Filter for Autonomous Underwater Vehicle
by Aijun Zhang, Yixuan Wu, Chenbo Zhi and Rui Yang
J. Mar. Sci. Eng. 2022, 10(3), 326; https://doi.org/10.3390/jmse10030326 - 25 Feb 2022
Cited by 3 | Viewed by 1425
Abstract
In the navigation of an autonomous underwater vehicle (AUV), the positioning accuracy and stability of the navigation system will decrease due to uncertainties such as mobility, inaccuracy of a priori process noise characteristic, and simplification of a dynamic model. In order to solve [...] Read more.
In the navigation of an autonomous underwater vehicle (AUV), the positioning accuracy and stability of the navigation system will decrease due to uncertainties such as mobility, inaccuracy of a priori process noise characteristic, and simplification of a dynamic model. In order to solve the above problems, a new, adaptive factor-based H∞ cubature Kalman filter based on a fading factor (AF-H∞CKF) is proposed in this paper. On the one hand, the H∞ game theory provides AF-H∞CKF good robustness in the worst case; on the other hand, the fading factor makes the innovation orthogonal and inflates the predicted error covariance and the Kalman gain, which avoids a decrease in estimation precision in the case of model uncertainty. The simulation and experiment results show that the AF-H∞CKF filter can deal with AUV navigation better than other existing algorithms in the presence of outliers and model uncertainty, which confirms its effectiveness and superiority. Full article
(This article belongs to the Special Issue State of the Art in Marine Robotics)
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16 pages, 8916 KiB  
Article
Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins
by Peizhou Du, S. H. Huang, Wencheng Yang, Yingqiang Wang, Zhikun Wang, Ruoyu Hu and Ying Chen
J. Mar. Sci. Eng. 2022, 10(1), 67; https://doi.org/10.3390/jmse10010067 - 5 Jan 2022
Cited by 11 | Viewed by 2364
Abstract
The autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor configuration and stable fins to [...] Read more.
The autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor configuration and stable fins to overcome the shape shortcoming for motion stabilization. Its motion analysis and mathematical model have been introduced accordingly. Computational Fluid Dynamics (CFD) simulation is carried out to evaluate fins’ hydrodynamic performance. Proportional integral derivative (PID) and sliding mode fuzzy (SMF) control are adopted for controller design. Finally, the controller is applied on this AUH and extensively tested in various simulations and experiments, and the results illustrate the high stabilization and robustness of the controller and the hovering stability and manoeuvrability of AUH. Full article
(This article belongs to the Special Issue State of the Art in Marine Robotics)
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15 pages, 4241 KiB  
Article
Theoretical and Experimental Aspects Regarding the Forced Mounting of a Cylinder Containing the Electronics of a Mini Submarine
by Amado-George Ștefan, Lucian Ștefăniță Grigore, Silvia Marzavan, Iustin Priescu and Ionica Oncioiu
J. Mar. Sci. Eng. 2021, 9(8), 855; https://doi.org/10.3390/jmse9080855 - 8 Aug 2021
Cited by 1 | Viewed by 1964
Abstract
The underwater robot is part of a project with “terrestrial–maritime” collaborative robots, whose mission is recognition and rescue. From a structural point of view, some small changes were made in this study to the original robot. These changes consisted of making supports to [...] Read more.
The underwater robot is part of a project with “terrestrial–maritime” collaborative robots, whose mission is recognition and rescue. From a structural point of view, some small changes were made in this study to the original robot. These changes consisted of making supports to hold the two plexiglass tubes, since the tube containing the battery system is larger. A larger tube was chosen because the aim was to increase the travel autonomy of the mini remotely operated vehicle (ROV). The mini submarine will move in an unstructured environment and will be able to reach a depth of 100 m. The purpose of the article is to present a point of view regarding the effect of the behavior of the mini ROV on tensions produced by the forced assembly of the sealing cover of the cylinder containing its command-and-control system. Both the gripping elements and the sealing lids are made using 3D printing technology, and the material used is polylactic acid (PLA). For the numerical analysis, the finite element method is used in both static and dynamic conditions. The results of this work refer to the field of tensions and displacements. The main conclusions emphasize the fact that the gripping performed for sealing is influenced by the usage of oiled mechanisms. Full article
(This article belongs to the Special Issue State of the Art in Marine Robotics)
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26 pages, 3901 KiB  
Article
Towards Realizing Intelligent Coordinated Controllers for Multi-USV Systems Using Abstract Training Environments
by Sulemana Nantogma, Keyu Pan, Weilong Song, Renwei Luo and Yang Xu
J. Mar. Sci. Eng. 2021, 9(6), 560; https://doi.org/10.3390/jmse9060560 - 22 May 2021
Cited by 3 | Viewed by 2560
Abstract
Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area. Despite their many potential applications, a related technological challenge is realizing realistic coordinated autonomous control and decision making in complex and multi-agent environments. Machine learning approaches have [...] Read more.
Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area. Despite their many potential applications, a related technological challenge is realizing realistic coordinated autonomous control and decision making in complex and multi-agent environments. Machine learning approaches have been largely employed in simplified simulations to acquire intelligent control systems in multi-agent settings. However, the complexity of the physical environment, unrealistic assumptions, and lack of abstract physical environments derail the process of transition from simulation to real systems. This work presents a modular framework for automated data acquisition, training, and the evaluation of multiple unmanned surface vehicles controllers that facilitate prior knowledge integration and human-guided learning in a closed-loop. To realize this, we first present a digital maritime environment of multiple unmanned surface vehicles that abstracts the real-world dynamics in our application domain. Then, a behavior-driven artificial immune-inspired fuzzy classifier systems approach that is capable of optimizing agents’ behaviors and action selection in a multi-agent environment is presented. Evaluation scenarios of different combat missions are presented to demonstrate the performance of the system. Simulation results show that the resulting controllers can achieved an average wining rate between 52% and 98% in all test cases, indicating the effectiveness of the proposed approach and its feasibility in realizing adaptive controllers for efficient multiple unmanned systems’ cooperative decision making. We believe that this system can facilitate the simulation, data acquisition, training, and evaluation of practical cooperative unmanned vehicles’ controllers in a closed-loop. Full article
(This article belongs to the Special Issue State of the Art in Marine Robotics)
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