DE PALMA , Daniela

The paper addresses the guidance control design of the motion controller for an underwater Remotely Operated Vehicle (ROV) within an European Commission H2020 research project called DexROV. Given a kinematics model of an ROV possibly subject to an ocean current, the problem consists in designing a guidance control law able to realize, within a...

This paper describes two navigation filters designed for an Autonomous Underwater Vehicle (AUV) for geotechnical surveying. Both a Luenberger observer for a kinematic model of the vehicle as well as an extended Kalman filter for its dynamic model are addressed. The filters allow to fuse information coming from a Global Positioning System (GPS),...

This paper addresses the problem of optimal AUV (Autonomous Underwater Vehicle) motion generation to maximise the range-related information available for vehicle positioning subject to the condition that the overall trajectory will drive the vehicle from an initial to a final target point. To this end we resort to a task prioritisation...

This paper addresses the problem of driving an underwater vehicle to a desired position while optimizing the performance of a single-range based localization system. Indeed, the performance of single-range based localization techniques is strongly dependent on the vehicle's motion that needs to be sufficiently rich to yield a good measure of...

This paper addresses the observability analysis for the single beacon localization problem of an Autonomous Underwater Vehicle (AUV) modeled as a double integrator where its input is the acceleration in an inertial reference frame and its output (measurement) is its range to a stationary beacon. The nonlinear map between range and position...

A dynamic modelling approach is presented to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle conceived as a multi-body underwater system. The vehicle-base is composed by heterogeneous robots and bodies (both actuated or not actuated), rigidly connected giving rise to a multi-body system called "cluster" in the...

The paper addresses the computation of the information-theoretic empowerment measure for a simplified vertical plane dynamic model of an eFolaga autonomous underwater vehicle. Empowerment can be used to measure how much influence a vehicle has on its behavior, and it identifies desirable states of the vehicle, hence it can act as an intrinsic...

The knowledge of dynamic models to describe the behaviors of unmanned underwater vehicles allows to design a precise navigation, guidance, and control system. A practical identification strategy is presented in this contribution, a procedure that can be easily executed during field trials and that is able to obtain a rapid assessment about the...

In this paper, we present DexROV, an EC Horizon 2020-funded project that proposes to implement novel operation strategies for underwater semiautonomous interventions. These costly and demanding operations are increasingly performed by remotely operated vehicles (ROVs), contributing to risk cutting for human divers. However, ROV operations...

The paper presents an overview of the recent and ongoing research activities of the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) in the field of geotechnical seismic surveying. Such activities, performed in the framework of the H2020 European project WiMUST, include the development of technologies and...

This paper presents the funded project DAMPS, that addresses the development of a multi-robot system for the position tracking of noise sources in underwater environment. The robots composing the team collaborate in order to fuse the local information coming from the analysis of a Passive Acoustic Monitoring sensor, with the final aim of...