As most of the world’s oceans are inaccessible to diving archaeologists, we must rely on advanced underwater technology and marine robotics to explore, map and investigate ship wrecks in these areas. New sensors and unmanned ...

This paper investigates the application of adaptive backstepping control to a hybrid power system for ship propulsion, using a main diesel engine in conjunction with a battery for auxiliary power supply. Fuel injection ...

This paper presents the main results and latest developments in a 4-year project called autonomous subsea intervention (SEAVENTION). In the project we have developed new methods for autonomous inspection, maintenance and ...

We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional ...

For an offshore worker in the oil and gas industry, the helicopter transport is the activity associated with the highest risk. An alternative to helicopter crew transfers is to use Surface Effect Ships (SES) to transport ...

This paper considers the problem of constructing a globally convergent position-and velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range ...

This paper proposes a hybrid collision avoidance (COLAV) approach based on the integration of a global path planning algorithm and a reactive collision avoidance technique. This combination provides a robust path planning ...

A signal-based hybrid observer combining measurements of different fidelities is proposed for position and velocity estimation of marine vessels. The concept assumes that noisy position measurements are available only ...

Autonomous underwater vehicles (AUVs) rely on surface support for communication with operators and position fixes to bound inertial navigation errors. By installing an acoustic modem on an autonomous surface vehicle (ASV), ...