Abstract
<p class="Abstract"><span lang="EN-US">The paper presents an overview of the recent and ongoing research activities of the Italian Interuniversity Center on Integrated Systems for the Marine Environment (ISME) in the field of geotechnical seismic surveying. Such activities, performed in the framework of the H2020 European project WiMUST, include the development of technologies and algorithms for Autonomous Surface Crafts and Autonomous Underwater Vehicles to perform geotechnical seismic surveying by means of a team of robots towing streamers equipped with acoustic sensors.</span></p>
Highlights
ISME, the Interuniversity Center on Integrated Systems for the Marine Environment, is an Italian Institution that involves a set of Universities that actively work in the field of marine robotics and acoustic systems
ISME has been involved in different research projects concerning the development and the use of Autonomous Surface Crafts (ASCs) and Autonomous
We extend such work by developing the system dynamic model, and by deriving the EKF equations and performing numerical validations integrating data from experimental tests
Summary
ISME, the Interuniversity Center on Integrated Systems for the Marine Environment, is an Italian Institution that involves a set of Universities (named as ISME-Nodes) that actively work in the field of marine robotics and acoustic systems. The main objective of the WiMUST project was the design, development, and testing of a robotic system composed of cooperating ASCs and AUVs to perform acoustic based geotechnical surveying and geophysical exploration [3]-[5]. To this purpose, the WiMUST project involved four academic partners and five industrial partners with specific expertise in the field of marine robotics, acoustic systems, and geophysical and geotechnical surveys: ISME, Instituto Superior Técnico. The WiMUST project aims at expanding and improving the functionalities of current cooperative marine robotic systems by effectively enabling a distributed acoustic array technology for seismic surveying. The hydrophones’ positions, needed for acoustic data processing, cannot be computed as in the case of surface surveys since the AUVs while diving cannot rely on GPS
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