State estimation and control of small low-cost AUVs
The last decade has witnessed a broadened exploitation of small and low-cost underwater vehicles for a large variety of applications. Their capabilities however are always constrained by space and budget. Also, the small size and weight of the vehicles makes their control under disturbances more challenging. This talk will demonstrate how novel affordable flow-sensing methods can facilitate vehicle’s state estimation and therefore their control and navigation. We also show examples of control of agile low-cost bio-inspired vehicles in the presence of disturbances. Examples of exploitation scenarios illustrate how low-cost small-sized vehicles can be used for new application areas.
Maarja Kruusmaa is a professor of Biorobotics in Tallinn University of Technology (TalTech) leading a research group of bio-inspired underwater technologies. She investigates how to gain flow information (e.g. currents, turbulence) in natural field conditions and how to use this information for navigating robots. She also works on novel actuation and control methods for underwater robot and robots for low-yield environments.