GARBI: a low-cost underwater vehicle

Abstract The progress on robotics, computer technology, sensors and perception systems has produced great advances in the field of underwater robotics, in the research and development of both autonomous ROVs and AUVs. Unfortunately, this progress has driven to the use of very expensive devices and, consequently, the development of high-cost underwater vehicles. As an alternative approach, the GARBI underwater robot has been designed as a low-cost ROV developed for underwater applications in shallow water environments. This paper describes the underwater vehicle and the endowed systems, the robot's goals and its main applications.

[1]  Charles E. Thorpe,et al.  Combining multiple goals in a behavior-based architecture , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[2]  Maja Matijasevic,et al.  Control architectures for autonomous underwater vehicles , 1997 .

[3]  Joan Batlle,et al.  Recent trends in control architectures for autonomous underwater vehicles , 1999, Int. J. Syst. Sci..

[4]  Wei Li,et al.  'Perception-action' behavior control of a mobile robot in uncertain environments using fuzzy logic , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[5]  K. Ganesan,et al.  A pragmatic software architecture for UUVs , 1996, Proceedings of Symposium on Autonomous Underwater Vehicle Technology.

[6]  I. D. Bonnon.  ROV intervention for effective cable burial-an overview of recent achievements , 1994, Proceedings of OCEANS'94.