Autonomous Marine Robotics

• Explain what is an autonomous marine system and describe its building blocks associated functions
• Interpret mathematical models for marine vehicles and explain the key dynamical differences of models for surface and underwater applications
• Formulate a path planning problem in 2D and 3D, and code state-of-the-art path planning algorithms
• Illustrate fundamental control functionalities for surface and underwater operations, and apply optimization theory to tune basic control loops
• Describe the different sensing technologies for internal and external situational awareness, and explain the core principles of multimodal sensor fusion
• Operate state-of-the-art mission planners, set up a mission in one such system and examine the designed mission
• Architect autonomous marine systems for a given ocean observation problem
• Integrate the building blocks of an autonomous marine system into a working solution, and perform experimental campaigns to test and verify the needed functionalities
• Present complex development solutions for autonomous marine systems in front of a qualified audience

Dynamical models for surface and underwater vehicles; Path planning methods; Tuning of PID controllers for marine operations; Sensor technologies for vehicle navigation and perception of marine environment; Situational awareness; Mission planning; Experimental marine robotics.

Knowledge of and practical experience with programming languages such as C/C++ and Python, as well as operating systems such as Linux and ROS

Lectures and group work in the underwater robotics laboratory

Teachers:

Roberto Galeazzi, Associate Professor, DTU Electro
Patrizio Mariani, Professor, DTU Aqua
Fletcher Thompson, Researcher, DTU Aqua