Sea Robot-Assisted Inspection

Author

Lindemuth, Michael ; Murphy, Robin ; Steimle, Eric ; Armitage, William ; Dreger, Karen ; Elliot, Tim ; Hall, Michael ; Kalyadin, Dmitry ; Kramer, Jeffrey ; Palankar, Mayur ; Pratt, Kevin ; Griffin, Chandler

Author_Institution

Inst. for Safety Security & Rescue Technol., Univ. of South Florida, Tampa, FL, USA

Volume

18

Issue

2

fYear

2011

fDate

6/1/2011 12:00:00 AM

Firstpage

96

Lastpage

107

Abstract

The sea robot-assisted inspection (Sea-RAI) marsupial robot team is the first known manportable unmanned surface vehicle (USV) that hosts an unmanned aerial vehicle (UAV). The Sea-RAI is designed for inspecting littoral environments for military, environmental, and disaster-response applications. The project also provides a platform for exploring the four roles in a marsupial team: courier, messenger, manager, and coach. The cooperation between the vehicles extends their capabilities beyond the capabilities of a single vehicle. This article describes the robot team, details the design and construction of low-cost USVs, and describes the demonstration of the integrated system and the four key capabilities, such as seaworthiness, data display, marsupialism, and mission logging.

Keywords

aircraft; inspection; marine systems; mobile robots; multi-robot systems; remotely operated vehicles; disaster response applications; environmental applications; littoral environments inspection; marsupial robot team; military applications; mission logging; robot team; sea robot assisted inspection; unmanned aerial vehicle; unmanned surface vehicle; Marine vehicles; Mobile robots; Remote handling equipment; Robot kinematics; Robot sensing systems; Telerobotics; Vehicles;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2011.940994

Filename

5876204