Single-Course English 5 ECTS

Autonomous Marine Robotics

Overall Course Objectives

The course aims at providing methods and tools for the analysis, designing and evaluation of robotic and high-automation solutions for observation, exploration and exploitation of marine environments. The course offers an end-user prospective to the design challenge of autonomous marine robotic systems, and exposes the students to the technologies needed to build and operate complex robotic systems for ocean observation.

Learning Objectives

  • 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

Course Content

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.

Recommended prerequisites

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

Teaching Method

Lectures and group work in the underwater robotics laboratory

Faculty

Remarks

Teachers:

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

See course in the course database.

Registration

Language

English

Duration

13 weeks

Institute

Electro

Place

DTU Lyngby Campus

Aqua
Course code 34763
Course type Candidate
Semester start Week 5
Semester end Week 19
Days Wed 13-17
Price

7.500,00 DKK

Registration