2026-04-13T13:39:42Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/132032024-05-22T09:49:20Zcom_2072_452955com_2072_2054col_2072_452957

00925njm 22002777a 4500 dc Ribas Romagós, David author Ridao Rodríguez, Pere author Turetta, Alessio author Melchiorri, Claudio author Palli, Gianluca author Fernández, José Javier author Sanz, Pedro José author info:eu-repo/date/embargoEnd/2026-01-01 info:eu-repo/date/embargoEnd/2026-01-01 2015-10-01 Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials This work was supported by the TRIDENT EU FP7 Project under Grant ICT-248497 and the Spanish Project DPI2011-27977-C03v (TRITON) http://hdl.handle.net/10256/13203 Vehicles submergibles Submersibles Robots autònoms Autonomous robots I-AUV Mechatronics Integration for the TRIDENT FP7 Project