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This study introduces a versatile Autonomous Surface Vehicle (ASV) with a Robot-Operating-System (ROS) architecture for marine tasks. A novel Marine Multirobot System (MMRS) strategy enhances communication links between the ASV and Autonomous Underwater Vehicle (AUV).

Keywords:
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Area of Science:

  • Robotics
  • Marine Engineering
  • Oceanography

Background:

  • Autonomous Surface Vehicles (ASVs) offer flexible platforms for marine research.
  • Effective coordination between marine robots is crucial for complex tasks.
  • Acoustic Communication Links (ACLs) between Autonomous Underwater Vehicles (AUVs) and surface stations can be unreliable.

Purpose of the Study:

  • To present the design, development, and application of a modular ASV.
  • To integrate an open-source Robot-Operating-System (ROS)-based control architecture for enhanced navigation.
  • To develop and test a Marine Multirobot System (MMRS) coordination strategy to improve ACL quality between ASVs and AUVs.

Main Methods:

  • Designed and developed a modular ASV platform.
  • Integrated an open-source ROS-based control architecture for diverse navigation behaviors.
  • Implemented and tested a novel MMRS coordination strategy focused on proximity maintenance between ASVs and AUVs.

Main Results:

  • The ASV demonstrated modularity and flexibility for various marine tasks.
  • The ROS-based architecture enabled a wide range of navigation behaviors for data acquisition (surveying, mapping, habitat characterization).
  • The MMRS coordination strategy significantly improved the quality of the Acoustic Communication Link (ACL) between the ASV and AUV.

Conclusions:

  • The developed ASV platform, integrated with ROS, is a capable tool for marine environmental data acquisition.
  • The MMRS coordination strategy effectively enhances communication reliability between marine robots.
  • The system's successful real-world testing validates its practical utility in marine robotic applications.