Exploration of Objects by an Underwater Robot with Electric Sense

  • Frédéric Boyer
  • Vincent Lebastard
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7375)


In this article, we propose a solution to the underwater exploration of objects using a new sensor inspired from the electric fish. The solution is free of any model and is just based on the combination of elementary behaviors, each of these behaviors being achieved through direct feedback of the electric measurements. The solution is robust, cheap and easy to implement. After, stating and interpreting it, the article ends with a few experimental results consisting in exploring small and large unknown objects.


Electric Organ Discharge Axial Current Sequential Graph Underwater Robot Electric Sense 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Frédéric Boyer
    • 1
  • Vincent Lebastard
    • 1
  1. 1.IRCCyN-Ecole des Mines de NantesNantes Cedex 3France

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