A Survey of Fault Detection/Tolerance Strategies for AUVs and ROVs

The use of Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) increased significantly in the last years. Such vehicles are complex systems engaged in missions in un-structured, unsafe environments for which the degree of autonomy becomes a crucial issue. In this sense, the capability to detect and tolerate faults is a key to successfully terminate the mission or recuperate the vehicle. In this paper, an overview of fault detection and fault tolerance algorithms, specifically designed for ROVs or for AUVs is presented.

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