MONSUN: a swarmAUV for environmental monitoring and inspection

Erik Maehle; Benjamin Meyer; Cedric Isokeit; Ulrich Behrje

doi:10.1049/SBRA525E_ch12

MONSUN: a swarmAUV for environmental monitoring and inspection

Erik Maehle, Benjamin Meyer, Cedric Isokeit, Ulrich Behrje

Institute of Computer Engineering

Abstract

This chapter presents the development of the small swarm -capable autonomous underwater vehicle (AUV) MONSUN and its use for environmental monitoring and inspection tasks. A summarizing description of robot development in hardware and software is given, whereby efforts of the design process are explained in detail. After the focus on underwater communication techniques, swarm behaviours based on robust and scaleable localization principles are presented. Finally, the flexibility and functionality of the system are shown with the help of various experiments and field tests.

Original language	English
Title of host publication	Autonomous Underwater Vehicles: Design and practice
Number of pages	29
Publisher	IET
Publication date	07.2020
Pages	329-357
ISBN (Print)	9781785617034
ISBN (Electronic)	9781785617041
DOIs	https://doi.org/10.1049/SBRA525E_ch12
Publication status	Published - 07.2020

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MONSUN: a swarmAUV for environmental monitoring and inspection

Abstract

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