Title :
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
fDate :
6/1/2011 12:00:00 AM
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2011.940994
