Underwater Robotics

  • Gianluca AntonelliEmail author
  • Thor I. FossenEmail author
  • Dana R. YoergerEmail author
Reference work entry


This chapter deals with the main underwater robotic topics. First, a brief introduction showing the constantly expanding role of marine robotics in oceanic engineering is given; this section also contains some historical backgrounds. Most of the following sections strongly overlap with the corresponding chapters presented in this handbook; hence, to avoid useless repetitions, only those aspects peculiar to the underwater environment are discussed, assuming that the reader is already familiar with concepts such as fault detection systems when discussing the corresponding underwater implementation. The modeling section is presented by focusing on a coefficient-based approach capturing the most relevant underwater dynamic effects. Two sections dealing with the description of the sensor and the actuating systems are then given. Autonomous underwater vehicles require the implementation of mission control system as well as guidance and control algorithms. Underwater localization is also discussed. Underwater manipulation is then briefly approached. Fault detection and fault tolerance, together with the coordination control of multiple underwater vehicles, conclude the theoretical part of the chapter. Two final sections, reporting some successful applications and discussing future perspectives, conclude the chapter.


Inertial Measurement Unit Underwater Vehicle Autonomous Underwater Vehicle Remotely Operate Vehicle Vehicle Position 
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.



autonomous underwater vehicles


center of gravity


concurrent mapping and localization


degree of freedom


Doppler velocity log


global positioning system


graphical user interface


inertial measurement units


Information Society Technologies


Instituto Superior Técnico


long-baseline system


Monterey Bay Aquarium Research Institute


mission control system


Naval Postgraduate School


ordinary differential equation




remotely operated vehicle


short-baseline system


single-input single-output


simultaneous localization and mapping




ultrashort-baseline system


unmanned underwater vehicles


underwater vehicle manipulator system


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Copyright information

© Springer-Verlag 2008

Authors and Affiliations

  1. 1.Dipartimento di Automazione, Ingegneria dellʼInformazione e Matematica IndustrialeUniversità degli Studi di CassinoCassinoItaly
  2. 2.Department of Engineering CyberneticsNorwegian University of Science and Technology (NTNU)TrondheimNorway
  3. 3.Department of Applied Ocean Physics and EngineeringWoods Hole Oceanographic InstitutionWoods HoleUSA

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