The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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A Feedback Scheme for Missions Managing in Underwater Archeology

Giuseppe Conte
Università Politecnica delle Marche
Italy

Silvia Maria Zanoli
Università Politecnica delle Marche
Italy

David Scaradozzi
Università Politecnica delle Marche
Italy

Abstract:
In the present paper, the formalization of a practical methodology for the cooperation, at various levels, of UUV and human operators in the exploration of underwater archaeological sites is presented. A primary interest of the archaeological activity is to extract, in a non invasive way, as much information as possible from a site with minimal expenditure of time and resources. In the underwater environment, work was traditionally performed by divers, with clear limitations and risks. In the last years, the use of manned and, especially, unmanned vehicles has gained popularity, but these equipments still remain unaffordable in most cases. The approach proposed here derives from the work done in the framework of the EU Research Project VENUS. Standard manual procedures for structuring an underwater archaeological site and for gathering data of the above mentioned type have been redesigned in order to exploit beneficially the potential of cooperation between human operators and robotics devices, such as ROVs. The central aim is, in our case, to exploit robotics and automation for increasing performances and limiting the overall costs, without using highly expensive, sophisticated equipments. This is obtained by trading off between accuracy and low-cost viability, managing efficiently the archaeological exploration process.

 

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