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Updated: Sep 22, 2025

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A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment.

Tho Dang1, Lionel Lapierre1, Rene Zapata1

  • 1Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS-UM), Université Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France.

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|May 20, 2022
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Summary

This study introduces a novel autonomous underwater robot with a unified design, capable of dynamically reconfiguring its thruster layout for enhanced maneuverability in confined spaces and challenging currents.

Keywords:
autonomous underwater robotreconfigurable underwater robot

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Area of Science:

  • Robotics
  • Ocean Engineering
  • Autonomous Systems

Background:

  • Traditional underwater robots often have fixed configurations, limiting their adaptability to diverse operational environments.
  • Reconfigurable underwater robots typically employ modular designs, which can introduce complexity and reduce structural integrity.
  • Confined environments, such as karst systems, pose significant challenges for underwater exploration due to tight spaces and unpredictable currents.

Purpose of the Study:

  • To present the design and experimental validation of a novel autonomous underwater robot with a dynamically reconfigurable actuation geometry.
  • To demonstrate the robot's versatility in adapting its shape for specific mission requirements and environmental constraints.
  • To highlight the advantages of a unified design over modular approaches for reconfigurable underwater robots.

Main Methods:

  • Development of a unified robot design integrating forward and backward subsystems with adjustable thruster positions and orientations.
  • Implementation of control software to manage dynamic reconfiguration based on mission objectives or environmental feedback.
  • Experimental testing to evaluate the robot's maneuverability, adaptability, and performance in simulated confined environments.

Main Results:

  • The robot successfully demonstrated dynamic reconfiguration of its thruster layout during missions.
  • Experimental results validated the robot's enhanced maneuverability and adaptability in navigating complex spatial constraints.
  • The unified design proved advantageous in terms of structural integrity and operational simplicity compared to modular counterparts.

Conclusions:

  • The developed autonomous underwater robot offers a versatile and robust solution for missions in confined and challenging aquatic environments.
  • The dynamic reconfiguration capability significantly enhances the robot's operational effectiveness, particularly for tasks like karst exploration and underwater docking.
  • This unified design approach represents a promising advancement in the field of reconfigurable underwater robotics.