2022/01/09 by Sara Aldhaheri, G. Masi, Aldhaheri, Sara +5 · 2 citations
Engineering · Environmental Science · #FOS: Computer and information sciences #Maritime Navigation and Safety #Robotics (cs.RO) #Underwater Vehicles and Communication Systems #Water Quality Monitoring Technologies
paper · pdf · doi:10.48550/arxiv.2201.02954
openalex publication_date 2022/01/09 · openalex created_date 2022/05/05 · openalex updated_date 2026/07/28
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acpI-AUV not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves perturb the stability of the vehicle, and low-light, turbid water conditions impede perceiving the surroundings. Certainly, the dynamic nature and our limited understanding of the marine environment hinder the autonomous performance of underwater robot manipulation. This manuscript provides a discussion on previous research and the limiting factors that impose on the long-envisioned prospects of autonomous underwater manipulation to finally highlight research directions that have the potential to improve the autonomy capabilities of I-AUV.