Marine robots to build maps Cycles Mapping Exploration
Ocean exploration with underwater robots
L. Jaulin
MOQESM'2020 Sea-Tech-Week, October 15, 2020
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
1. Marine robots to build maps
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Boatbot tows a magnetometer youtu.be/cxVs1fDdm1s
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Magnetic map built in 2018
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
2. Cycles
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Submeeting 2018
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
[3]
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
3. Mapping
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
For topological navigation, the robot may follow paths. A path can correspond
1) to an isothermal front 2) to a magnetic path 3) to a parallel 4) to an isobath.
.
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
1. Follow the 50m isobath until the 15-degree isotherm 2. Follow the 15-isotherm until the 50m isobath 3. Go to Step 1
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
4. Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Find the route without GPS, compass and clock
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Formalization
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Given
˙
x = f (x,u) , u (t) ∈ [u] (t) y = g (x) , y (t) ∈ [y] (t) x (0) = x 0
An observer is blind if dim y= 0 .
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Visible area. The robot has a state x . The visible area is V (x) Example. The robot is able to see all up to 3 km:
V (x) =
(z 1 , z 2 ) | q
(z 1 − x 1 ) 2 + (z 2 − x 2 ) 2 ≤ 3 · 10 3
.
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Explored zone Z is dened by [1]
x ˙ = f (x,u) , u (t) ∈ [u] (t) Z = S t≥0 V (x (t))
x (0) = x 0
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
We have
\
x(·)∈ X (·)
[
t≥0
V (x (t))
| {z }
Z
−⊂ Z ⊂ [
x(·)∈ X (·)
[
t≥0
V (x (t))
| {z }
Z
+.
Z − is the certainly explored zone.
Z + is the maybe explored zone.
Z + \ Z − is the penumbra.
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Spiral scan. We have [2]
[
t≥0
\
x∈ X (t)
V (x)
| {z }
{z | ∃t ∀x∈ X (t), z∈ V(x)}
⊂ Z − = \
x(·)∈ X (·)
[
t≥0
V (x (t))
| {z }
{z | ∀x(·)∈ X (·),∃t, z∈ V(x)}
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Boustrophedon
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
Daurade DGA-TN
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
During its boustrophedon Daurade explored Z ∈ [[ Z ]]
L. Jaulin Ocean exploration with underwater robots
Marine robots to build maps Cycles Mapping Exploration
B. Desrochers and L. Jaulin.
Computing a guaranteed approximation the zone explored by a robot.
IEEE Transaction on Automatic Control, 62(1):425430, 2017.
V. Drevelle, L. Jaulin, and B. Zerr.
Guaranteed characterization of the explored space of a mobile robot by using subpavings.
In Proc. Symp. Nonlinear Control Systems (NOLCOS'13), Toulouse, 2013.
L. Jaulin.
Isobath Following using an Altimeter as a Unique Exteroceptive Sensor.
In Sophia M. Schillai and Nicholas Townsend, editors, Robotic Sailing 2018, pages 105110, 2018.
L. Jaulin Ocean exploration with underwater robots
