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dc.contributor.authorHover, Franz S.
dc.contributor.authorEustice, Ryan M.
dc.contributor.authorKim, Ayoung
dc.contributor.authorEnglot, Brendan J.
dc.contributor.authorJohannsson, Hordur
dc.contributor.authorKaess, Michael
dc.contributor.authorLeonard, John Joseph
dc.date.accessioned2013-04-24T17:02:02Z
dc.date.available2013-04-24T17:02:02Z
dc.date.issued2013-04-24
dc.identifier.issn0278-3649
dc.identifier.issn1741-3176
dc.identifier.urihttp://hdl.handle.net/1721.1/78589
dc.description.abstractInspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships.en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-06-10043)en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-07-1-0791)en_US
dc.language.isoen_US
dc.publisherSage Publicationsen_US
dc.relation.isversionofhttp://dx.doi.org/10.1177/0278364912461059en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceMIT web domainen_US
dc.titleAdvanced perception, navigation and planning for autonomous in-water ship hull inspectionen_US
dc.typeArticleen_US
dc.identifier.citationHover, F. S. et al. “Advanced Perception, Navigation and Planning for Autonomous In-water Ship Hull Inspection.” The International Journal of Robotics Research 31.12 (2012): 1445–1464.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorHover, Franz S.
dc.contributor.mitauthorEnglot, Brendan J.
dc.contributor.mitauthorJohannsson, Hordur
dc.contributor.mitauthorKaess, Michael
dc.contributor.mitauthorLeonard, John Joseph
dc.relation.journalInternational Journal of Robotics Researchen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsHover, F. S.; Eustice, R. M.; Kim, A.; Englot, B.; Johannsson, H.; Kaess, M.; Leonard, J. J.en
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
dc.identifier.orcidhttps://orcid.org/0000-0002-2621-7633
mit.licenseOPEN_ACCESS_POLICYen_US


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