Control and Perception Framework for Deep Sea Mining Exploration

Carlotta Sartore; Ricard Campos; Josep Quintana; Enrico Simetti; Rafael Garcia; Giuseppe Casalino

doi:10.1109/IROS40897.2019.8967599

Control and Perception Framework for Deep Sea Mining Exploration

Carlotta Sartore
, Ricard Campos
, Josep Quintana
, Enrico Simetti
, Rafael Garcia
, Giuseppe Casalino

Department of Computer Science

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	IEEE
Pages	6348-6353
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967599
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 3 Nov 2019 → 8 Nov 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	3/11/19 → 8/11/19

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10.1109/IROS40897.2019.8967599

Cite this

Sartore, C., Campos, R., Quintana, J., Simetti, E., Garcia, R., & Casalino, G. (2019). Control and Perception Framework for Deep Sea Mining Exploration. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 6348-6353). Article 8967599 (IEEE International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS40897.2019.8967599

@inproceedings{5c4dab3407c047fa9bccb45da8b93a78,

title = "Control and Perception Framework for Deep Sea Mining Exploration",

abstract = "This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results.",

author = "Carlotta Sartore and Ricard Campos and Josep Quintana and Enrico Simetti and Rafael Garcia and Giuseppe Casalino",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",

year = "2019",

month = nov,

doi = "10.1109/IROS40897.2019.8967599",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",

address = "United States",

}

Sartore, C, Campos, R, Quintana, J, Simetti, E, Garcia, R & Casalino, G 2019, Control and Perception Framework for Deep Sea Mining Exploration. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967599, IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 6348-6353, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 3/11/19. https://doi.org/10.1109/IROS40897.2019.8967599

Control and Perception Framework for Deep Sea Mining Exploration. / Sartore, Carlotta; Campos, Ricard; Quintana, Josep et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IEEE, 2019. p. 6348-6353 8967599 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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AU - Garcia, Rafael

AU - Casalino, Giuseppe

PY - 2019/11

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N2 - This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results.

AB - This paper presents the control and perception framework used in the ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system for exploring deep-sea mining sites. The vehicle firstly collects data of the initial zone of interest and it selects a sub area which is the most probable to contain a manganese nodule field; then it carries out a low altitude survey. When a possible nodule is detected by the cameras, the vehicle lands on the seafloor, allowing the following fixed based manipulation which is designed to perform the nodule analysis. The work reports the implemented control and perception architecture and the preliminary pool experiments results.

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ER -

Control and Perception Framework for Deep Sea Mining Exploration

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