refs.bib

@INPROCEEDINGS{junior2013n, 
author={A. G. S. J\'unior and A. P. D. Ara\'ujo and M. V. A. Silva and R. V. Aroca and L. M. G. Gon\c{c}alves}, 
booktitle={2013 Latin American Robotics Symposium and Competition}, 
title={N-BOAT: An Autonomous Robotic Sailboat}, 
year={2013}, 
volume={}, 
number={}, 
pages={24-29}, 
keywords={boats;fuzzy control;marine engineering;mobile robots;remotely operated vehicles;three-term control;N-BOAT;autonomous robotic sailboat;autonomous sailboat control architecture;prototype sailboat;long endurance autonomous missions;ocean monitoring;wind forces propulsion;mathematical model;PID;fuzzy controllers;sail control;rudder control;hardware architecture;Mathematical model;Boats;Sensors;Robots;Computer architecture;Computers;Vehicle dynamics;Sailboat;robotic;autonomous}, 
doi={10.1109/LARS.2013.52}, 
ISSN={}, 
month={Oct}
}

@inproceedings{Wohlin2014Guidelines,
 author = {Wohlin, Claes},
 title = {Guidelines for Snowballing in Systematic Literature Studies and a Replication in Software Engineering},
 booktitle = {18th International Conference on Evaluation and Assessment in Software Engineering},
 year = {2014},
 pages = {38:1--38:10}
} 
[download]

@INPROCEEDINGS{souza2016towards, 
author={J. M. V. Boas and A. G. Silva J\'unior and D. H. Santos and A. P. F. Negreiros and J. E. Alvarez-J\'acobo and L. M. G. Gon\c{c}alves}, 
booktitle={2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)}, 
title={Towards the Electromechanical Design of an Autonomous Robotic Sailboat}, 
year={2016}, 
volume={}, 
number={}, 
pages={43-48}, 
keywords={battery powered vehicles;marine vehicles;mobile robots;photovoltaic cells;remotely operated vehicles;secondary cells;wind power;wind power plants;aquatic vehicle;nautical batteries;photovoltaic cells;electricity generation;power system;wind power;marine borders monitoring;water monitoring;unmanned craft;geopolitical disputes-over-territory;population growth;water quality;climate change;autonomous robotic sailboat;electromechanical design;Actuators;Robots;Oceans;Sensors;Boats;Engines;Batteries;AUV;Robotics;Sustainable Energy;Embedded Systems;Photovoltaic Cells}, 
doi={10.1109/LARS-SBR.2016.15}, 
ISSN={}, 
month={Oct}
}

@Article{silva2016towards,
AUTHOR = {Silva Junior, Andouglas Gon\c{c}alves da and Lima S\'a, Sarah Thomaz de and Santos, Davi Henrique dos and Negreiros, \'{A}lvaro Pinto Fernandes de and Souza Silva, Jo\~{a}o Moreno Vilas Boas de and \'{A}lvarez J\'{a}cobo, Justo Em\'{i}lio and Gon\c{c}alves, Luiz M. G.},
TITLE = {Towards a Real-Time Embedded System for Water Monitoring Installed in a Robotic Sailboat},
JOURNAL = {Sensors},
VOLUME = {16},
YEAR = {2016},
NUMBER = {8},
ARTICLE-NUMBER = {1226},
URL = {http://www.mdpi.com/1424-8220/16/8/1226},
ISSN = {1424-8220},
DOI = {10.3390/s16081226}
}

@Article{santos2016control,
AUTHOR = {Santos, Davi and Silva Junior, Andouglas G. and Negreiros, Alvaro and Vilas Boas, Jo\~ao and Alvarez, Justo and Ara\'ujo, Andre and Aroca, Rafael Vidal and Gon\c{c}alves, Luiz M. G.},
TITLE = {Design and Implementation of a Control System for a Sailboat Robot},
JOURNAL = {Robotics},
VOLUME = {5},
YEAR = {2016},
NUMBER = {1},
ARTICLE-NUMBER = {5},
URL = {http://www.mdpi.com/2218-6581/5/1/5},
ISSN = {2218-6581},
DOI = {10.3390/robotics5010005}
}

@INPROCEEDINGS{Abreu2015Cooperative,
author={P. Abreu and M. Bayat and J. Botelho and P. G\'{o}is and A. Pascoal and J. Ribeiro and M. Ribeiro and M. Rufino and L. Sebasti\~{a}o and H. Silva},
booktitle={OCEANS 2015 - Genova},
title={Cooperative control and navigation in the scope of the EC CADDY project},
year={2015},
volume={},
number={},
pages={1-5},
abstract={Cognitive Autonomous Diving Buddy (CADDY) is an FP7 project initiated in February 2014. The key objectives of the project are to develop, implement, and demonstrate in the course of missions at sea the efficacy of a number of innovative systems to assist human divers during the execution of demanding scientific and commercial activities in hazardous underwater environments. At the core of CADDY is the development of an underwater robot that plays the role of a buddy diver and a surface robot to improve guidance, monitoring, assistance, and safety of the diver's mission. The present paper gives a brief summary of the work done during the first year of the project towards the development and testing of the systems required for coordinated surface / underwater vehicle operations. We consider the cases where the leader is either the surface or the underwater vehicle. The architecture adopted for multiple vehicle coordination is described. Results of tests with the MEDUSA class of autonomous marine vehicles show the efficacy of the systems developed for navigation and coordinated motion control.},
keywords={autonomous underwater vehicles;cooperative systems;mobile robots;motion control;multi-robot systems;path planning;telerobotics;cooperative control;EC CADDY Project;Cognitive Autonomous Diving Buddy project;FP7 project;hazardous underwater environments;CADDY;underwater robot;surface robot;underwater vehicle;multiple vehicle coordination;autonomous marine vehicles;MEDUSA;navigation;coordinated motion control;Vehicles;Underwater vehicles;Navigation;Trajectory;Robot kinematics},
doi={10.1109/OCEANS-Genova.2015.7271711},
ISSN={},
month={May},}

@INPROCEEDINGS{Abreu2016MEDUSA,
author={P. C. Abreu and J. Botelho and P. G\'{o}is and A. Pascoal and J. Ribeiro and M. Ribeiro and M. Rufino and L. Sebasti\~{a}o and H. Silva},
booktitle={OCEANS 2016 - Shanghai},
title={The MEDUSA class of autonomous marine vehicles and their role in EU projects},
year={2016},
volume={},
number={},
pages={1-10},
abstract={This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for Systems and Robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine robotics tools to: i) assess the efficacy of cooperative motion control and navigation algorithms and ii) seamlessly execute scientific and commercial missions with multiple robots at sea. We first define the problem of designing the MEDUSA-class of vehicles by describing the desired functional requirements that motivated their development and then present our solution. Mechanical and electrical design considerations that relate to the requirements are explained, and the software architecture is described. This includes a brief overview of the navigation system, the main lower-level control loops which other features can build upon, and some of the higher-level algorithms for multiple-vehicle cooperative missions. We also illustrate the functionality of the mission control system, a dedicated software suite that allows operators to seamlessly program and follow the state of execution of cooperative missions involving multiple vehicles, possibly running different operations or missions in parallel. Finally, we summarize the participation of IST and the MEDUSA vehicles in a number of representative EC-funded Marine Robotics-related projects.},
keywords={marine control;marine navigation;mobile robots;motion control;multi-robot systems;MEDUSA class;autonomous marine vehicles;EU projects;multiple vehicle scenarios;MEDUSA vehicles;marine robotics tools;cooperative motion control;navigation algorithms;multiple robots;mechanical design;electrical design;software architecture;navigation system;multiple-vehicle cooperative missions;mission control system;EC-funded marine robotics-related projects;Vehicles;Navigation;Sensors;Robots;Batteries;Payloads;Software architecture},
doi={10.1109/OCEANSAP.2016.7485620},
ISSN={},
month={April},}


@ARTICLE{Adamek2015Gradient, 
author={T. Adamek and C. A. Kitts and I. Mas}, 
journal={IEEE/ASME Transactions on Mechatronics}, 
title={Gradient-Based Cluster Space Navigation for Autonomous Surface Vessels}, 
year={2015}, 
volume={20}, 
number={2}, 
pages={506-518}, 
keywords={boats;gradient methods;mobile robots;multi-robot systems;path planning;telerobotics;adaptive navigation;autonomous surface vessels;full degree-of-freedom cluster space multirobot controller;gradient-based adaptive navigation capability;gradient-based cluster space navigation;gradient-based multirobot technique;local maxima-minima;mobile robot;multirobot cluster;robotic kayaks;spatial control;Aerospace electronics;Kinematics;Navigation;Robot kinematics;Robot sensing systems;Adaptive navigation;autonomous surface vessel;cluster space control;gradient-based navigation}, 
doi={10.1109/TMECH.2013.2297152}, 
ISSN={1083-4435}, 
month={April},}

@inproceedings{Adams2011Survey,
title={A survey of unmanned aerial vehicle (UAV) usage for imagery collection in disaster research and management},
author={Adams, Stuart M and Friedland, Carol J},
booktitle={9th International Workshop on Remote Sensing for Disaster Response},
pages={8},
year={2011}
}

@inproceedings{Ahmedi2013Ontology,
author={Ahmedi, Lule and Jajaga, Edmond and Ahmedi, Figene},
title={An Ontology Framework for Water Quality Management},
booktitle={Proceedings of the 6th International Conference on Semantic Sensor Networks - Volume 1063},
series={SSN'13},
year={2013},
location={Sydney, Australia},
pages={35--50},
numpages={16},
url={http://dl.acm.org/citation.cfm?id=2874543.2874546},
acmid={2874546},
publisher={CEUR-WS.org},
address={Aachen, Germany, Germany},
keywords={OWL, SWRL, ontologies, reasoning, semantic sensor web, semantic web, water quality monitoring, wireless sensor networks},
} 

@INPROCEEDINGS{Agrawal2015COLREGS, 
author={P. Agrawal and J. M. Dolan}, 
booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
title={COLREGS-compliant target following for an Unmanned Surface Vehicle in dynamic environments}, 
year={2015}, 
pages={1065-1070}, 
abstract={This paper presents the autonomous tracking and following of a marine vessel by an Unmanned Surface Vehicle in the presence of dynamic obstacles while following the International Regulations for Preventing Collisions at Sea (COLREGS) rules. The motion prediction for the target vessel is based on Monte-Carlo sampling of dynamically feasible and collision-free paths with fuzzy weights, leading to a predicted path resembling anthropomorphic driving behavior. This prediction is continuously optimized for a particular target by learning the necessary parameters for a 3-degree-of-freedom model of the vessel and its maneuvering behavior from its path history without any prior knowledge. The path planning for the USV with COLREGS is achieved on a grid-based map in a single stage by incorporating A* path planning with Artificial Terrain Costs for dynamically changing obstacles. Various scenarios for interaction, including multiple civilian and adversarial vessels, are handled by the planner with ease. The effectiveness of the algorithms has been demonstrated both in representative simulations and on-water experiments.}, 
keywords={Monte Carlo methods;collision avoidance;marine vehicles;remotely operated vehicles;COLREGS rules;COLREGS-compliant target following;International Regulations for Preventing Collisions at Sea;Monte Carlo sampling;USV;adversarial vessels;artificial terrain costs;autonomous tracking;collision-free paths;dynamic environments;dynamic obstacles;fuzzy weights;grid-based map;maneuvering behavior;marine vessel;motion prediction;path history;path planning;path resembling anthropomorphic driving behavior;unmanned surface vehicle;Angular velocity;History;Monte Carlo methods;Motion estimation;Sea surface;Trajectory}, 
doi={10.1109/IROS.2015.7353502}, 
month={Sept},}

@Inbook{Akyuz2017Maritime,
author="Akyuz, Emre and Ilbahar, Esra and Cebi, Selcuk and Celik, Metin",
title="Maritime Environmental Disaster Management Using Intelligent Techniques",
bookTitle="Intelligence Systems in Environmental Management: Theory and Applications",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="135--155",
isbn="978-3-319-42993-9",
doi="10.1007/978-3-319-42993-9_7",
url="http://dx.doi.org/10.1007/978-3-319-42993-9_7",
abstract="The maritime environmental disasters are generally caused by collision, grounding, stranding heavy weather, explosion or fire. These disasters can cause spillage of oil, bunker, dirty water or chemical harmful substances. It is well known that the most known environmental disaster in maritime having serious impacts on marine life is oil spill. Although several intelligence techniques like heuristic search algorithms, machine learning, and fuzzy approach have been employed in maritime sector with various purposes, in the literature, applications of intelligent techniques for the solution of the maritime environmental disaster problems are quite limited. In this study, an intelligent system which consists of model-base, database, environmental disaster management actions, ship operation management actions, user interface, environmental disaster modelling, and decision support unit has been proposed. The proposed system, called as Maritime Intelligent Environmental Disaster Management (MIEDM), is aimed at strengthening operating mechanism along with the mitigation, preparedness, response, and recovery phases to eliminate the potential impacts of maritime environmental disasters.",
}

@INPROCEEDINGS{Al-Kaff2017Intelligent,
author={A. Al-Kaff and F. M. Moreno and A. de la Escalera and J. M. Armingol},
booktitle={2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
title={Intelligent vehicle for search, rescue and transportation purposes},
year={2017},
volume={},
number={},
pages={110-115},
abstract={Recent development in micro-electronics technologies as well as the computer vision techniques increased demand to use Unmanned Aerial Vehicles (UAVs) in several industrial and civil applications. This paper proposed a vision based system, that is used in UAVs for search, rescue and transportation purposes. The proposed system is divided into two main parts: Vision-based object detection and classification, in which, a Kinect V2 sensor is used; to extract the objects from the ground plane, and estimate the distance to the UAV. In addition, Support Vector Machine (SVM) human detector based on Histograms of Oriented Gradients (HOG) features is applied to classify the human bodies from the all detected objects. Secondly, a semi-autonomous reactive control for visual servoing system is implemented; to control the position and the velocity of the UAV for performing safe approaching maneuvers to the detected objects. The proposed system has been validated by performing several real flights, and the obtained results show the high robustness and accuracy of the system.},
keywords={autonomous aerial vehicles;computer vision;image classification;image sensors;object detection;object tracking;rescue robots;robot vision;support vector machines;visual servoing;intelligent vehicle;rescue;transportation purposes;microelectronics technologies;computer vision techniques;Unmanned Aerial Vehicles;UAV;industrial applications;civil applications;vision based system;object detection;classification;Kinect V2 sensor;Support Vector Machine;semiautonomous reactive control;visual servoing system;histograms of oriented gradients features;position control;Feature extraction;Support vector machines;Three-dimensional displays;Histograms;Transportation;Computer vision},
doi={10.1109/SSRR.2017.8088148},
ISSN={2475-8426},
month={Oct},}

@article{Allotta2017Development,
author={Benedetto Allotta and Lorenzo Brandani and Nicola Casagli and Riccardo Costanzi and Francesco Mugnai and Niccolò Monni and Marco Natalini and Alessandro Ridolfi},
title={Development of Nemo remotely operated underwater vehicle for the inspection of the Costa Concordia wreck},
journal={Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment},
volume={231},
number={1},
pages={3-18},
year={2017},
doi={10.1177/1475090215605133},
URL={http://dx.doi.org/10.1177/1475090215605133},
eprint={http://dx.doi.org/10.1177/1475090215605133},
abstract={ Remotely operated underwater vehicles are mobile robots increasingly used in underwater applications; these devices are widely used and suitable for different scenarios, for example, for patrolling and monitoring and also for underwater interventions. In the last 30 years, the remotely operated underwater vehicles have become more and more advanced; at the same rate with the progressive technological development of these vehicles, the market of the specialized component industry is fast-increasing. Generally speaking, a remotely operated underwater vehicle allows to investigate areas inaccessible or too dangerous for human beings. The use of remotely operated underwater vehicles during a mission, with the related implication of support ships and specialized pilots, or the involvement of professional divers, is usually associated with high costs. The reduction of these costs is an important topic in the underwater robotic field and the easy piloting of these mobile robots is a crucial aspect in their development. This article describes Nemo remotely operated underwater vehicle, a remotely operated underwater vehicle prototype specifically designed for the exploration of the Costa Concordia wreck, Isola del Giglio, Italy. Nemo remotely operated underwater vehicle can be considered a mini-remotely operated underwater vehicle, that is, a remotely operated underwater vehicle with weight less than 25 kg and easily deployable from a small boat. This article describes the main characteristics of the vehicle: the onboard control logic and on the development of a user-friendly graphical user interface for underwater navigation able to take advantage of its high maneuverability. It is worth to note that the developed graphical user interface enables to operate the vehicle even to inexperienced pilots. Preliminary experimental data collected during navigation are provided. }
}

@INPROCEEDINGS{Almeida2016Air, 
author={J. Almeida and A. Ferreira and B. Matias and A. Dias and A. Martins and F. Silva and J. Oliveira and P. Sousa and M. Moreira and T. Miranda and C. Almeida and E. Silva}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Air and underwater survey of water enclosed spaces for VAMOS! Project}, 
year={2016}, 
pages={1-5}, 
abstract={This paper addresses a three-dimensional (3D) reconstruction of a flooded open pit mine with an autonomous surface vehicle (ASV) and unmanned aerial vehicle (UAV). The ROAZ USV and the Otus UAV were used to provide the underwater bathymetric map and aerial 3D reconstruction based from image data. This work was performed within the context of the European research project VAMOS with the objective of developing robotic tools for efficient underwater mining.}, 
keywords={autonomous aerial vehicles;bathymetry;geophysical image processing;geophysics computing;industrial robots;mining;mobile robots;production engineering computing;surveying;ASV;European research project;Otus UAV;ROAZ USV;VAMOS project;aerial 3D reconstruction;air survey;autonomous surface vehicle;efficient underwater mining;flooded open pit mine;image data;robotic tools development;three-dimensional reconstruction;underwater bathymetric map;underwater survey;unmanned aerial vehicle;water enclosed spaces;Robots;Sea surface;Sensors;Sonar;Sonar navigation;Three-dimensional displays;Vehicles;3D Reconstruction;Autonomous Surface Vehicle;Bathymetric Survey;Structure From Motion;Unmanned Aerial Vehicle}, 
doi={10.1109/OCEANS.2016.7761282}, 
month={Sept},}

@Article{Amigoni2009Insightful,
author="Amigoni, Francesco
and Reggiani, Monica
and Schiaffonati, Viola",
title="An insightful comparison between experiments in mobile robotics and in science",
journal="Autonomous Robots",
year="2009",
volume="27",
number="4",
pages="313",
abstract="Experiments are essential ingredients of science, both to confirm/refute a theory and to discover new theories. It is a common belief that experimentation in mobile robotics has not yet reached a level of maturity comparable with that reached in science, for example in physics, considered as the paradigm of a mature, stable, and well-founded scientific discipline. In this paper, starting from a representative sample of the current state of the art, we identify some basic issues of experiments in mobile robot localization and mapping. These issues, when viewed in the context of some general principles about experiments in science and engineering, lead us to derive some insightful considerations on the role of experiments in mobile robotics. Reflecting the background of the authors, the paper has an interdisciplinary nature at the meeting point of mobile robotics and philosophy of science.",
issn="1573-7527",
doi="10.1007/s10514-009-9137-8",
url="http://dx.doi.org/10.1007/s10514-009-9137-8"
}

@inproceedings{Amigoni2013Benchmarking,
title={Benchmarking through competitions},
author={Amigoni, F and Bonarini, A and Fontana, G and Matteucci, M and Schiaffonati, V},
booktitle={European Robotics Forum--Workshop on Robot Competitions: Benchmarking, Technology Transfer, and Education},
volume={604},
year={2013},
}

@INPROCEEDINGS{Anderson2016Development, 
author={J. Anderson and B. Belcher and K. Clark and J. Faust and E. Hall and J. Sandoval and K. Tozer and R. N. Smithy}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Development and implementation of a marine robotics algorithm validation testbed}, 
year={2016}, 
pages={1-10}, 
abstract={Clean water is a natural resource that is crucial for life but has very little protection. This was exemplified by the Gold King Mine spill on August 7, 2015, in which three million gallons of acidic mine drainage was released into the head waters of the Animas River. The Animas River is the source for five water supply systems, providing drinking water for tens of thousands of people and irrigation water for a myriad of agricultural operations. Incidents such as this happen regularly and create the need for persistent monitoring of the water in rivers, lakes and reservoirs world wide. To this end, this paper presents the development of a network of three autonomous surface vehicles equipped with water monitoring sensors for water quality monitoring and an algorithm validation testbed. These vehicles are sustained by solar power and equipped with 3G wireless communication for real-time data transmission. Here, we detail the vehicles and the networked system, and provide results from field deployments. An additional outcome of this project is the engagement and collaboration with the local community and the robotic community at large. By making the database view-able to the public the local community can be involved in evaluating the quality of their water. By allowing the public to plan paths for the vehicles, multi-robot sampling algorithms and crowd-sourced control techniques can be methodically developed and systematically analyzed.}, 
keywords={3G mobile communication;marine control;mobile robots;solar power;water supply;3G wireless communication;Animas river;Gold King Mine;acidic mine drainage;agricultural operations;autonomous surface vehicles;drinking water;marine robotics algorithm validation testbed;multirobot sampling algorithms;natural resource;real-time data transmission;solar power;water monitoring sensors;water quality monitoring;water supply systems;Monitoring;Reservoirs;Rivers;Robots;Vehicles;Water pollution}, 
doi={10.1109/OCEANS.2016.7761239}, 
month={Sept},}

@article{Ardito2012Cooperative,
title="Cooperative Autonomous Robotic Towing system: definition of requirements and operating scenarios",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="262 - 267",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00045",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312393",
author="S. Ardito and D. Lazarevs and B. Vasiliniuc and Z. Vukic and K. Masabayashi and M. Caccia",
keywords="Marine robotics",
keywords="Unmanned Marine Vehicles",
abstract="The project CART (Cooperative Autonomous Robotic Towing system) proposes a new concept for salvage operations of distressed ships at sea based on the development of robotised unmanned marine platforms able to (semi-)automatically execute the high risk operation of linking the emergency towing system of distressed ships to towing vessels. The CART device will be able to optimize the operations for safeguarding the environment, helping to prevent oil pollution at sea, and minimizing the risk for human lives. This paper presents user requirements and operating scenarios for the development of a prototype system able to support the in-field validation of the proposed concept.",
}

@Article{Arumugam2013Wireless,
author="Arumugam, Sivabalan
and Kalle, Ritesh Kumar
and Prasad, Anand R.",
title="Wireless Robotics: Opportunities and Challenges",
journal="Wireless Personal Communications",
year="2013",
volume="70",
number="3",
pages="1033--1058",
abstract="Wireless robotics is one of the emerging fields in the world of automation. In-spite of research and standardization efforts around the world, the definition of the term ``Robot'' is still evolving. Robots have found application in many domains including home automation, industrial automation, health-care, surveillance, reconnaissance, planetary exploration or rescue missions. This paper addresses some of the opportunities, research challenges and standardization issues in wireless robotics with the focus on wireless and networking aspects.",
issn="1572-834X",
doi="10.1007/s11277-013-1102-3",
url="http://dx.doi.org/10.1007/s11277-013-1102-3"
}

@inBook{Arzamendia2017Path,
author={Mario Arzamendia Lopez and Daniel Guti\'{e}rrez and Derlis Gregor and S. L. Toral},
title={A Path Planning Approach of an Autonomous Surface Vehicle for Water Quality Monitoring using Evolutionary Computation},
booktitle={Technology for Smart Futures},
year={2017},
publisher={Springer International Publishing AG},
ISBN={978-3-319-60137-3},
DOI={10.1007/978-3-319-60137-3},
edition={First},
pages={328},
abstract={The path planning of an Autonomous Surface Vehicle in a lake for environmental monitoring has been modeled as a particular case of the travelling salesman problem, in which the ASV should visit a ring of beacons deployed at the shore of the lake for delivering the collected data. For achieving a complete representation of the lake, the distance travelled should be maximized instead of minimized as in the classic Travelling Salesman Problem. The evolutionary technique known as Genetic Algorithm is applied for finding the optimal solution. The simulations show promising results even in the case that some constrains are included in the problem.},
}

@INPROCEEDINGS{Ashrafiuon2010Review, 
author={H. Ashrafiuon and K. R. Muske and L. C. McNinch}, 
booktitle={Proceedings of the 2010 American Control Conference}, 
title={Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles}, 
year={2010}, 
pages={5203-5211}, 
abstract={A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth time-varying control laws for the setpoint control approaches. An overview of the formulation, advantages, and disadvantages of each approach is presented. Although much progress has been made in autonomous underactuated surface vessel control, there remains a need for the evolution of these approaches to achieve robust, real-time control laws that can be implemented on actual autonomous Unmanned Surface Vessel (USV) platforms in the presence of high sea states and external disturbances in uncertain and unstructured environments.}, 
keywords={marine vehicles;mobile robots;position control;remotely operated vehicles;sampled data systems;time-varying systems;autonomous underactuated marine vehicles;autonomous underactuated surface vessel control;autonomous underactuated surface vessels;autonomous unmanned surface vessel platforms;discontinuous time-varying control laws;nonlinear tracking;path following control;setpoint control approaches;smooth time-varying control laws;trajectory tracking;Actuators;Backstepping;Feedback;Marine vehicles;Motion control;Sea surface;Sliding mode control;Target tracking;Trajectory;Vehicle dynamics}, 
doi={10.1109/ACC.2010.5530450}, 
ISSN={0743-1619}, 
month={June},}

@INPROCEEDINGS{Asrofi2016Optimal, 
author={M. Asrofi and A. I. Cahyadi and O. Wahyunggoro}, 
booktitle={2016 International Conference on Information Technology Systems and Innovation (ICITSI)}, 
title={Optimal path planning of a mini USV using sharp cornering algorithm}, 
year={2016}, 
pages={1-6}, 
abstract={This paper proposes a method for path planning of Unmanned Surface Vehicle (USV) with the effective period of time to achieve the target using sharp cornering algorithm. This method is used to create the curve between two points of the target. USV uses 9 DOF IMU with Kalman Filter and also the Inertial Navigation System (INS) as a method to combine 9 axis of IMU become pitch, roll and yaw. The generated value of yaw from Kalman Filter will be combined with the heading from Global Positioning System(GPS) sensor.}, 
keywords={Global Positioning System;inertial navigation;mobile robots;optimal control;path planning;remotely operated vehicles;9 DOF IMU;GPS sensor;INS;Kalman filter;global positioning system sensor;inertial navigation system;mini USV;optimal path planning;pitch;roll;sharp cornering algorithm;unmanned surface vehicle;yaw;Accelerometers;Global Positioning System;Information technology;Kalman filters;Mathematical model;Robot sensing systems;Technological innovation;INS;Kalman filter;USV;sharp cornering}, 
doi={10.1109/ICITSI.2016.7858230}, 
month={Oct},}

@article{Aznar2017Swarm,
title="A swarm behaviour for jellyfish bloom detection ",
journal="Ocean Engineering ",
volume="134",
number="",
pages="24 - 34",
year="2017",
note="",
issn="0029-8018",
doi="https://doi.org/10.1016/j.oceaneng.2017.02.009",
url="http://www.sciencedirect.com/science/article/pii/S0029801817300665",
author="Fidel Aznar and Mar Pujol and Ramón Rizo",
keywords="Swarm behaviour",
keywords="Jellyfish detection",
keywords="Unmanned aerial vehicles ",
abstract="Abstract In this paper we will deal with the issue of swarm behaviour for jellyfish detection using \{UAVs\} (unmanned aerial vehicles). Swarm behaviour is inspired by the functioning of biological swarms. They are characterized by being fully distributed, scalable and fault-tolerant. Initially, we will study the behaviour of jellyfish and their impact and interaction with industry. Motivated by the need to improve current detection systems, we will propose a swarm behaviour that will be formalized with a microscopic model. We will discuss both the convergence and the scalability of the model. Finally, a macroscopic model will be provided to predict the probability that an individual is placed in a position at a given moment. "
}

@article{Azzeri2015Review,
title={Review of course keeping control system for unmanned surface vehicle},
author={Azzeri, MN and Adnan, FA and Zain, MZ Md},
journal={Jurnal Teknologi},
volume={74},
number={5},
pages={11--20},
year={2015},
publisher={Penerbit UTM Press},
abstract={This paper presents a review of research work done on various aspects of control system approaches of unmanned surface vehicle (USV) in order to improve the course keeping performance. Various methods have been used to produce a course keeping control system for manoeuvring system of USV. However, the review reveals that the adaptive backstepping control system is a powerful tool for the design of controllers for nonlinear systems or transformable to form a tight feedback parameter. It is very suitable for the automated control system of USV in relative motion that involves the disturbances from waves and wind. Fuzzy logic control also had been suggested as an alternative approach for complex systems with uncertain dynamics and those with nonlinearities. This method does not rely on the mathematical models, but the heuristic approach. Further studies may be conducted to combine the control method approach mentioned above to develop a real time system with robust control laws to the motions of a USV in waves, usually at a specific speed, including station keeping or heading in sinusoidal and irregular waves}
}

@INPROCEEDINGS{Bae2015Towards, 
author={J. H. Bae and E. T. Matson and B. C. Min}, 
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Towards an autonomous water monitoring system with an unmanned aerial and surface vehicle team}, 
year={2015}, 
pages={1-2}, 
abstract={In this paper, we describe a grand vision of our project, which is to develop an autonomous water monitoring system by operating an unmanned aerial and surface vehicle collaboration team with the focus on large and long rivers. Key backgrounds and challenges in realizing this vision are briefly outlined, and we show a simple path planning for an unmanned surface vehicle for the effective water sampling in the Wabash River, the natural river in the US, as one of our envisioned scenarios. Lastly, some future works are described.}, 
keywords={autonomous aerial vehicles;marine vehicles;multi-robot systems;path planning;Wabash River;autonomous water monitoring system;path planning;surface vehicle team;unmanned aerial vehicle team;unmanned surface vehicle;Monitoring;Rivers;Sea surface;Vehicles;Water conservation;Water pollution;Water resources}, 
doi={10.1109/SSRR.2015.7443007}, 
month={Oct},}

@Article{Balaguer2009Evaluating,
author="Balaguer, Benjamin
and Balakirsky, Stephen
and Carpin, Stefano
and Visser, Arnoud",
title="Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup",
journal="Autonomous Robots",
year="2009",
volume="27",
number="4",
pages="449",
abstract="This paper presents the map evaluation methodology developed for the Virtual Robots Rescue competition held as part of RoboCup. The procedure aims to evaluate the quality of maps produced by multi-robot systems with respect to a number of factors, including usability, exploration, annotation and other aspects relevant to robots and first responders. In addition to the design choices, we illustrate practical examples of maps and scores coming from the latest RoboCup contest, outlining strengths and weaknesses of our modus operandi. We also show how a benchmarking methodology developed for a simulation testbed effortlessly and faithfully transfers to maps built by a real robot. A number of conclusions may be derived from the experience reported in this paper and a thorough discussion is offered.",
issn="1573-7527",
doi="10.1007/s10514-009-9141-z",
url="http://dx.doi.org/10.1007/s10514-009-9141-z"
}

@article{Balakirsky2007Towards,
author={Balakirsky, Stephen and Carpin, Stefano and Kleiner, Alexander and Lewis, Michael and Visser, Arnoud and Wang, Jijun and Ziparo, Vittorio Amos},
title={Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from RoboCup rescue},
journal={Journal of Field Robotics},
volume={24},
number={11-12},
publisher={Wiley Subscription Services, Inc., A Wiley Company},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.20212},
doi={10.1002/rob.20212},
pages={943--967},
year={2007},
abstract={Urban Search and Rescue is a growing area of robotic research. The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions. In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an environment while searching for victims. This paper presents the results of the first annual RoboCup Rescue Virtual competition. It provides details on the metrics used to judge the contestants as well as summaries of the algorithms used by the top four teams. This allows readers to compare and contrast these effective approaches. Furthermore, the simulation engine itself is examined and real-world validation results on the engine and algorithms are offered. © 2007 Wiley Periodicals, Inc.},
}

@INPROCEEDINGS{Barrera2013Highlights, 
author={C. Barrera and T. Morales and J. Viera and Á. Lorenzo and D. Vega and O. Llinás and M. J. Rueda}, 
booktitle={2013 MTS/IEEE OCEANS - Bergen}, 
title={Highlights from latest sea-operations in the Macaronesian region with unmanned autonomous marine gliding vehicles}, 
year={2013}, 
pages={1-7}, 
abstract={Current advances on key marine technology fields provide nowadays a broad range of autonomous unmanned platforms addressed for an efficient and cost-effective ocean observation, with a suitable level of success in terms of endurance, reliability and useful gathered information. In this context, a multidisciplinary family of unmanned autonomous vehicles addressed to monitor both coastal and open-ocean areas plays a relevant role. Over the last months, some of the newest unmanned gliding-vehicle technologies have been tested within the context of the Oceanic Platform of the Canary Islands (PLOCAN) in varied operational scenarios aiming different technical and scientific purposes, all of them joined in direct partnership with the company provider and other R&D institutions in some cases. Among others, representative examples in this way are the missions under the name Challenger One, Volcano and SB02 through surface and underwater gliding vehicles, performed mostly in the surrounding subtropical waters of the ESTOC ocean observatory in the Canary Islands archipelago. The main gathered operational and scientific results from these missions are presented in this work as a sign of new ocean observing technologies within the framework of the Macaronesian Marine and Maritime Observation Strategy (R3M) and linked with the current European rules, programs and projects in this field.}, 
keywords={marine control;remotely operated vehicles;Canary Islands archipelago;Challenger One mission;ESTOC ocean observatory;European programs;European projects;European rules;Macaronesian Marine and Maritime Observation Strategy;Macaronesian region;Oceanic Platform of the Canary Islands;PLOCAN;R&D institutions;R3M;SB02 mission;Volcano mission;autonomous unmanned platforms;coastal area monitoring;company provider;endurance;information gathering;marine technology fields;open-ocean area monitoring;operational scenarios;reliability;scientific purpose;sea-operations;subtropical waters;surface gliding vehicles;technical purpose;underwater gliding vehicles;unmanned autonomous marine gliding vehicles;Monitoring;Ocean temperature;Satellites;Sea measurements;Sea surface;Spatial resolution;ESTOC;R3M;autonomous vehicle;gliders;marine robotics;monitoring;ocean observatory}, 
doi={10.1109/OCEANS-Bergen.2013.6608130}, 
month={June},}

@inproceedings{Bascetta2009Design,
author={Bascetta,L. and Magnani,G. and Rocco,P. and Zanchettin,A. M.},
editor={ },
year={2009},
title={Design and implementation of the low-level control system of an All-Terrain Mobile Robot},
booktitle={2009 International Conference on Advanced Robotics, ICAR 2009},
}

@article{Bayat2016Environmental,
title="Environmental monitoring using autonomous vehicles: a survey of recent searching techniques",
journal="Current Opinion in Biotechnology",
volume="45",
pages="76 - 84",
year="2017",
note="Energy biotechnology Environmental biotechnology",
issn="0958-1669",
doi="https://doi.org/10.1016/j.copbio.2017.01.009",
url="http://www.sciencedirect.com/science/article/pii/S0958166916302312",
author="Behzad Bayat and Naveena Crasta and Alessandro Crespi and Antonio M. Pascoal and Auke Ijspeert",
abstract="Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles.",
}

@INPROCEEDINGS{Bays2015Panel, 
author={Matthew. J. Bays}, 
booktitle={OCEANS 2015 - MTS/IEEE Washington}, 
title={A panel on the future of long duration maritime autonomy}, 
year={2015}, 
pages={1-3}, 
abstract={We present a summary of a panel on long-duration maritime autonomy (LDMA) taking place at IEEE OCEANS 2015, Washington, DC. The panelists include Drs. Jason Stack and Theresa Paluszkiewicz of the Office of Naval Research, Dr. Geoffery Hollinger of Oregon State University, Rafael Rodriguez of the Naval Surface Warfare Center, Panama City Division, and Clayton Jones of Teledyne Webb Research. The panelists come from key stakeholders within the maritime autonomy domain: academia, government, and industry. These differing points of view will give unique insights into the history and future of long-duration maritime autonomy.},
keywords={electronic warfare;marine systems;remotely operated vehicles;Clayton Jones of Teledyne Webb Research;DC;Geoffery Hollinger;IEEE OCEANS 2015;Jason Stack;LDMA;Naval Surface Warfare Center;Office of Naval Research;Oregon State University;Panama City Division;Rafael Rodriguez;Theresa Paluszkiewicz;Washington;key stakeholders;long duration maritime autonomy;Cities and towns;Government;Robot kinematics;Robot sensing systems;Sea surface}, 
doi={10.23919/OCEANS.2015.7401850}, 
month={Oct},}

@mastersthesis{Becker2013Control,
title={Control strategy for autonomous remediation of marine oil spills},
author={Becker, Christopher J},
year={2013},
school={Boston University}
}

@mastersthesis{Alvaro2018,
title={N-Boat: Design and Development of an Autonomous Robotic Sailboat (in Portuguese)},
author={Negreiros, Alvaro P F},
year={2018},
school={Federal University of Rio Grande do Norte}
}

@article{Beerens2016Scoping,
title="Scoping the field of disaster exercise evaluation - A literature overview and analysis ",
journal="International Journal of Disaster Risk Reduction ",
volume="19",
number="",
pages="413 - 446",
year="2016",
note="",
issn="2212-4209",
doi="https://doi.org/10.1016/j.ijdrr.2016.09.001",
url="http://www.sciencedirect.com/science/article/pii/S2212420916302072",
author="Ralf Josef Johanna Beerens and Henrik Tehler",
keywords="Disaster",
keywords="Crisis",
keywords="Emergency",
keywords="Exercise",
keywords="Drill",
keywords="Evaluation",
keywords="Assessment",
keywords="Analysis",
keywords="Valuation",
keywords="Review",
keywords="Scoping study",
keywords="Literature overview ",
abstract="Abstract The evaluation of emergency, disaster and crisis management exercises supports both individual and organizational learning, facilitates the development of response capabilities, and helps to determine whether the current level of preparedness is good enough. Nevertheless, despite its importance in the field of disaster risk management, there is a lack of a comprehensive overview of research in the area. The aim of the paper is to provide such an overview. A scoping study identified the key contributions on the topic of disaster exercise evaluation, provides an overview of research in the area, and analyses opportunities for future work. The purpose, function and form of the evaluation provided the framework for the analysis, which was applied to the scoping study results. The results indicate a lack of academic interest. Although exercises take place on a regular basis and are often used for research purposes, their evaluations are seldom the focus of attention per se. Moreover, contributions that do focus on evaluations are spread over several disciplines. Nevertheless, the results indicate that recent contributions are becoming more coherent as they build on each other (or at least refer to each other), even if they are produced within different disciplines. Despite encouraging signs of a more cohesive scientific corpus on the evaluation of disaster exercises, there is still room for improvement. The scientific discourse would benefit from greater clarity regarding: (1) the purpose and context in which a specific evaluation method is designed to be used; (2) what the method needs to do (or produce) in order for it to fulfill the purpose; and (3) how the method achieves its goal and thereby fulfills its purpose. Moreover, in order to help researchers to build on each other's work and suggest improvements to evaluation methods, it is urgent that the supporting evidence (for example, empirical data or logical reasoning) for claims regarding the usefulness of a specific method is clearly presented. This is likely to lead to a more vigorous scientific discourse, which will result in increasingly relevant and robust arguments related to how to approach the problem of evaluating disaster exercises in practice. "
}

@phdthesis{Behymer2017Interface,
  title={Interface Design for the Supervisory Control of Multiple Heterogeneous Unmanned Vehicles},
  author={Behymer, Kyle Joseph},
  year={2017},
  school={Wright State University}
}

@article {Bellingham2007Robotics,
author={Bellingham, James G. and Rajan, Kanna},
title={Robotics in Remote and Hostile Environments},
volume={318},
number={5853},
pages={1098--1102},
year={2007},
doi={10.1126/science.1146230},
publisher={American Association for the Advancement of Science},
abstract={In our continuing quest for knowledge, robots are powerful tools for accessing environments too dangerous or too remote for human exploration. Early systems functioned under close human supervision, effectively limited to executing preprogrammed tasks. However, as exploration moves to regions where communication is ineffective or unviable, robots will need to carry out complex tasks without human supervision. To enable such capabilities, robots are being enhanced by advances ranging from new sensor development to automated mission planning software, distributed robotic control, and more efficient power systems. As robotics technology becomes simultaneously more capable and economically viable, individual robots operated at large expense by teams of experts are increasingly supplemented by teams of robots used cooperatively under minimal human supervision.},
issn={0036-8075},
URL={http://science.sciencemag.org/content/318/5853/1098},
eprint={http://science.sciencemag.org/content/318/5853/1098.full.pdf},
journal={Science}
}

@article{Bello2014Satellite,
title="Satellite Remote Sensing as a Tool in Disaster Management and Sustainable Development: Towards a Synergistic Approach",
journal="Procedia - Social and Behavioral Sciences",
volume="120",
pages="365 - 373",
year="2014",
note="3rd International Geography Symposium, GEOMED2013, 10-13 June 2013, Antalya, Turkey",
issn="1877-0428",
doi="https://doi.org/10.1016/j.sbspro.2014.02.114",
url="http://www.sciencedirect.com/science/article/pii/S1877042814016449",
author="Olalekan Mumin Bello and Yusuf Adedoyin Aina",
keywords="Disaster management, Geospatial data, Natural hazard, Satellite imagery, Sustainable development",
abstract="Disasters have become an issue of growing concern throughout the world, whether it is natural hazards or through human factors. The frequency, as well as magnitude, of disasters threatening large population living in diverse environments is increasing in recent years across the world. These disasters also have far-reaching implications on sustainable development through social, economic and environmental impacts. It is highly imperative to develop effective tools for disaster management. Remote sensing systems have been playing a great role in disaster management in such areas as flooding, cyclones, drought, earthquake and tsunami. Satellite remote sensing is largely adopted due to its cost effectiveness, short temporal orbiting and large area of coverage. Remote sensing technologies have been used in disaster management especially during the preparedness/warning and response/monitoring stages. Despite the capabilities of remote sensing technologies in natural and human disaster management, there are still some limitations in its deployment due to the divide between developed and developing countries, data accessibility (especially high resolution imagery) and technological limitations. This paper examines the recent developments in the application of remote sensing in disaster management such as the proliferation of data through unprecedented sources (Google Earth, crowdsourcing, Global Land Cover) and improvement in data resolutions and integration of technologies. It examines how recent developments can help in overcoming the limitations of using remotely sensed data in disaster management. There is a need for more collaborative and interdisciplinary frameworks to fully utilize the capabilities of remote sensing in hazard and disaster management."
}

@article{Benjamin2006Method,
author={Benjamin, Michael R. and Leonard, John J. and Curcio, Joseph A. and Newman, Paul M.},
title={A method for protocol-based collision avoidance between autonomous marine surface craft},
journal={Journal of Field Robotics},
volume={23},
number={5},
publisher={Wiley Subscription Services, Inc., A Wiley Company},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.20121},
doi={10.1002/rob.20121},
pages={333--346},
year={2006},
}


@INPROCEEDINGS{Benjamin2006Navigation, 
author={M. R. Benjamin and J. A. Curcio and J. J. Leonard and P. M. Newman}, 
booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.}, 
title={Navigation of unmanned marine vehicles in accordance with the rules of the road}, 
year={2006}, 
pages={3581-3587}, 
abstract={This paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the coast guard collision regulations (COLREGS). These rules are written to train and guide safe human operation of marine vehicles and are heavily dependent on human common sense in determining rule applicability as well as rule execution, especially when multiple rules apply simultaneously. To capture the flexibility exploited by humans, this work applies a novel method of multi-objective optimization, interval programming, in a behavior-based control framework for representing the navigation rules, as well as task behaviors, in a way that achieves simultaneous optimal satisfaction. We present experimental validation of this approach using multiple autonomous surface craft. This work represents the first in-field demonstration of multiobjective optimization applied to autonomous COLREGS-based marine vehicle navigation}, 
keywords={collision avoidance;remotely operated vehicles;telerobotics;underwater vehicles;coast guard collision regulations;collision avoidance;interval programming;marine vehicle navigation;multi-objective optimization;multiple autonomous surface craft;simultaneous optimal satisfaction;unmanned marine vehicles;Automotive engineering;Control systems;Humans;Law;Legal factors;Marine vehicles;Mobile robots;Navigation;Oceans;Remotely operated vehicles}, 
doi={10.1109/ROBOT.2006.1642249}, 
ISSN={1050-4729}, 
month={May},}

@article {Berger2016Ocean,
author={Berger, J. and Laske, G. and Babcock, J. and Orcutt, J.},
title={An ocean bottom seismic observatory with near real-time telemetry},
journal={Earth and Space Science},
volume={3},
number={2},
issn={2333-5084},
url={http://dx.doi.org/10.1002/2015EA000137},
doi={10.1002/2015EA000137},
pages={68--77},
keywords={Instruments and techniques, ocean bottom observatory},
year={2016},
note={2015EA000137},
abstract={We describe a new technology that can provide near real-time telemetry of sensor data from the ocean bottom without a moored buoy or a cable to shore. The breakthrough technology that makes this system possible is an autonomous surface vehicle called a Wave Glider developed by Liquid Robotics, Inc. of Sunnyvale, CA, which harvests wave and solar energy for motive and electrical power. We present results from several deployments of a prototype system that demonstrate the feasibility of this concept. We also demonstrated that a wave glider could tow a suitably designed ocean bottom package with acceptable loss of speed. With further development such a system could be deployed autonomously and provide real-time telemetry of data from seafloor sensors.},
}

@INPROCEEDINGS{Berger2016RIO,
author={J. Berger and J. Orcutt and G. Laske and J. Babcock},
booktitle={OCEANS 2016 MTS/IEEE Monterey},
title={RIO ROSO a Robotically Installed and Online Remote Ocean Seafloor Observatory},
year={2016},
volume={},
number={},
pages={1-5},
abstract={We describe a system for ocean observatories which streams data from the seafloor to shore in near real-time without a cable or moored surface buoy. The system utilizes a Wave Glider® (Liquid Robotics, Inc.); an autonomous surfboard-sized maritime vehicle that harvests wave energy for propulsion and solar energy for electrical power. The Wave Glider acts as a communications gateway as it hovers on the surface above the observatory connecting the acoustic telemetry through the ocean column and satellite telemetry to the shore. Several deployments of a prototype system demonstrated the feasibility of this concept. We also demonstrated that a wave glider could tow a suitably designed ocean bottom package with acceptable loss of speed. In this paper, we describe such a system that can be deployed autonomously and provide real-time telemetry of data from seafloor sensors.},
keywords={energy harvesting;marine propulsion;marine telemetry;marine vehicles;mobile robots;sensors;Liquid Robotics Inc;RIO ROSO;Wave Glider®;acoustic telemetry;autonomous surfboard-sized maritime vehicle;electrical power;propulsion;robotically installed and online remote ocean seafloor observatory;seafloor sensors;solar energy;wave energy harvesting;Acoustics;Logic gates;Robots;Sea surface;Sensors;Telemetry;acoustic;communications;concept;data;glider;remote;seafloor;seismic;sensor instruments},
doi={10.1109/OCEANS.2016.7761049},
ISSN={},
month={Sept},}

@article{Bertaska2015Experimental,
title="Experimental evaluation of automatically-generated behaviors for USV operations",
journal="Ocean Engineering",
volume="106",
number="",
pages="496 - 514",
year="2015",
note="",
issn="0029-8018",
doi="http://dx.doi.org/10.1016/j.oceaneng.2015.07.002",
url="http://www.sciencedirect.com/science/article/pii/S0029801815003066",
author="Ivan R. Bertaska and Brual Shah and Karl von Ellenrieder and Petr \v{S}vec and Wilhelm Klinger and Armando J. Sinisterra and Manhar Dhanak and Satyandra K. Gupta",
keywords="Marine vehicles",
keywords="Unmanned surface vehicles",
keywords="COLREGs",
keywords="Guidance, navigation and control",
keywords="Lattice-based trajectory planning",
keywords="Nonlinear control",
abstract="The performance of four automatically-generated path planning behaviors is evaluated through field-testing. Experiments were conducted using a model-referenced trajectory planner, which was implemented on unmanned surface vehicles (USVs) of different size, thrust, and maneuverability characteristics. The planner combines a local search based on the Velocity Obstacles (VO) concept with a global, lattice-based search for a dynamically feasible trajectory (determined using models of the nonlinear dynamics, nonholonomic constraints, and low-level control of each system). Multiple low-level USV heading and speed controllers, varying in complexity from proportional control to nonlinear backstepping control, were tested with the planner. High planning performance is achieved by searching within a resolution-adaptive space of the USV׳s candidate motion goals. Sampling is constrained to ensure that the International Regulations for the Prevention of Collisions at Sea (COLREGs) are followed. Prior to on-water implementation, the system was fine-tuned in simulation. Four automatically-generated USV behaviors were demonstrated in on-water tests within a complex, static obstacle field: 1) Approach (USV approaches a fixed target); 2) Follow (USV approaches a moving target); 3) Single COLREGs-Compliant Crossing (USV approaches a fixed target while avoiding another vessel); and 4) Multiple COLREGs-Compliant Crossings (USV approaches a fixed target while avoiding an interference vessel multiple times)."
}

@article{Bertram2008Unmanned,
title={Unmanned surface vehicles-a survey},
author={Bertram, Volker},
journal={Skibsteknisk Selskab, Copenhagen, Denmark},
volume={1},
pages={1--14},
year={2008},
publisher={Citeseer}
}

@INPROCEEDINGS{Bhadauria2010Robotic, 
author={D. Bhadauria and V. Isler and A. Studenski and P. Tokekar}, 
booktitle={2010 IEEE International Conference on Robotics and Automation}, 
title={A Robotic Sensor Network for monitoring carp in Minnesota lakes}, 
year={2010}, 
pages={3837-3842}, 
abstract={Robotic Sensor Networks (RSNs) find increasing use in environmental monitoring as RSNs can collect data from obscure, hard-to-reach places over long periods of time. This work reports progress in building a network of small, light-weight robotic rafts which will be used to monitor common carp tagged with radio transmitters across Minnesota lakes. We describe the design and architecture of the robotic raft, and demonstrate the robustness of our waypoint navigation algorithm through field tests conducted in various lakes. We also present results from experiments aimed towards localizing tagged fish.}, 
keywords={robots;wireless sensor networks;Minnesota lakes;carp monitoring;radio transmitters;robotic raft;robotic sensor network;Algorithm design and analysis;Buildings;Lakes;Marine animals;Monitoring;Radio navigation;Radio transmitters;Robot sensing systems;Robustness;Testing}, 
doi={10.1109/ROBOT.2010.5509499}, 
ISSN={1050-4729}, 
month={May},}

@article{Bibuli2009Path,
TITLE={{Path-Following Algorithms and Experiments for an Unmanned Surface Vehicle}},
AUTHOR={Bibuli, Marco and Bruzzone, Gabriele and Caccia, Massimo and Lapierre, Lionel},
URL={https://hal.archives-ouvertes.fr/hal-00733789},
JOURNAL={{Journal of Field Robotics}},
PUBLISHER={{Wiley}},
VOLUME={26},
PAGES={669-688},
YEAR={2009},
DOI={10.1002/rob.20303},
PDF={https://hal.archives-ouvertes.fr/hal-00733789/file/jfr_paper.pdf},
HAL_ID={hal-00733789},
HAL_VERSION={v1},
}

@ARTICLE{Bibuli2012Guidance, 
author={M. Bibuli and M. Caccia and L. Lapierre and G. Bruzzone}, 
journal={IEEE Robotics Automation Magazine}, 
title={Guidance of Unmanned Surface Vehicles: Experiments in Vehicle Following}, 
year={2012}, 
volume={19}, 
number={3}, 
pages={92-102}, 
abstract={Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the spatial and temporal constraints, giving priority to the former one. The proposed approach is validated experimentally in a harbor area with the help of the prototype USVs ALANIS and Charlie, developed by Consiglio Nazionale delle Ricerche-Istituto di Studi sui Sistemi Intelligenti per lAutomazione (CNR-ISSIA).}, 
keywords={marine vehicles;mobile robots;motion control;multi-robot systems;position control;remotely operated vehicles;ALANIS USV;Charlie USV;master vessel;path following techniques;spatial constraints;temporal constraints;unmanned surface vehicle guidance;vehicle following;virtual moving target tracking;Aircraft navigation;Position measurement;Remotely operated vehicles;Robots;Target tracking;Unmanned aerial vehicles}, 
doi={10.1109/MRA.2011.2181784}, 
ISSN={1070-9932}, 
month={Sept},}

@article {Bingham2011Development,
author="Bingham, Brian S. and Walls, Jeffrey M. and Eustice, Ryan M.",
title="Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications",
journal="Marine Technology Society Journal",
volume="45",
number="3",
year="2011",
abstract="This paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.",
pages="25-36",
itemtype="ARTICLE",
parent_itemid="infobike://mts/mtsj",
issn="0025-3324",
publishercode ="mts",
url="http://www.ingentaconnect.com/content/mts/mtsj/2011/00000045/00000003/art00005",
doi="doi:10.4031/MTSJ.45.3.4",
keyword="interprocess control, maritime domain awareness, supervisory control, autonomous vehicles"
}

@article{Bio2015Methods,
author={Bio, A. and Bastos, L. and Granja, H. and Pinho, J.L.S. and Gonçalves, J.A. and Henriques, R. and Madeira, S. and Magalhães, A. and Rodrigues, D.},
title={Methods for coastal monitoring and erosion risk assessment: two Portuguese case studies},
Journal={Revista de Gestão Costeira Integrada - Journal of Integrated Coastal Zone Management},
year={2015},
doi={10.5894/rgci490},
number={1},
publisher={Editorial Associação Portuguesa dos Recursos Hídricos},
pages={47-63},
volume={15},
keywords={monitoring techniques;Digital Elevation Models;morphodynamics;coastal erosion;risk assessment;Douro Estuary;Vila Nova de Gaia;Portugal},
}

@INPROCEEDINGS{Birk2012Advances, 
author={A. Birk and M. Pfingsthorn and H. Bülow}, 
booktitle={2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Advances in underwater mapping and their application potential for Safety, Security, and Rescue Robotics (SSRR)}, 
year={2012}, 
pages={1-3}, 
abstract={We give here a short overview of recent contributions of the Jacobs Robotics group in underwater mapping. This work reaches up to 3D mapping of complex structures, which is of particular interest for Safety, Security, and Rescue Robotics (SSRR) missions with AUV, which tend to occur not in plain open waters but in complex environments. Examples of potential use cases include harbor security, infrastructure inspection after disasters, or military reconnaissance.}, 
keywords={SLAM (robots);autonomous underwater vehicles;marine safety;security;service robots;3D complex structure mapping;AUV;Jacobs robotics group;SSRR;complex environments;safety security and rescue robot;underwater mapping}, 
doi={10.1109/SSRR.2012.6523907}, 
month={Nov},}

@ARTICLE{Biswas2017Visual,
author={{Biswas}, Aritra and {Karnan}, Haresh and  and {Vaidik Dhulipala}, Pranav and {Dufek}, Jan and {Murphy}, Robin},
title="{Visual Servoing of Unmanned Surface Vehicle from Small Tethered Unmanned Aerial Vehicle}",
journal={arXiv e-prints},
keywords={Computer Science - Computer Vision and Pattern Recognition, Computer Science - Robotics},
year={2017},
month={October},
eid={arXiv:1710.02932},
pages={arXiv:1710.02932},
abstract={This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMILY project aims to team an Unmanned Surface Vehicle (USV) with an Unmanned Aerial Vehicle (UAV) to augment the search and rescue of marine casualties during an emergency response phase. The USV is designed to serve as a flotation device once it reaches the victims. A live video feed from the UAV is provided to the casuality responders giving them a visual estimate of the USVs orientation and position to help with its navigation. One of the challenges involved with casualty response using a USV UAV team is to simultaneously control the USV and track it. In this paper, we present an implemented solution to automate the UAV camera movements to keep the USV in view at all times. The motor schema proposed, uses the USVs coordinates from the visual localization subsystem to control the UAVs camera movements and track the USV with minimal camera movements such that the USV is always in the cameras field of view.},
archivePrefix={arXiv},
eprint={1710.02932},
primaryClass={cs.CV},
adsurl={https://ui.adsabs.harvard.edu/\#abs/2017arXiv171002932K},
adsnote={Provided by the SAO/NASA Astrophysics Data System}
}

@article{Blaich2012Extended,
title="Extended Grid Based Collision Avoidance Considering COLREGs for Vessels",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="416 - 421",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00071",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312654",
author="Michael Blaich and Michael Rosenfelder and Michael Schuster and Oliver Bittel and Johannes Reuter",
keywords="Collision avoidance",
keywords="Ship navigation",
keywords="Path planning",
keywords="Lee's algorithm",
keywords="COLREGs",
keywords="Optimal route",
keywords="Raster grid",
abstract="In this work a grid based collision avoidance algorithm which considers the physical constrains of a vessel is presented. For this purpose a new geometry neighbourhood is introduced and explained in detail. The collision avoidance algorithm pays attention to the COLREGs and provides a collision-free path. To find this path, Lee's algorithm is used."
}

@article{Bogue2015Search,
author={Robert Bogue},
title={Search and rescue and disaster relief robots: has their time finally come?},
journal={Industrial Robot: the international journal of robotics research and application},
volume={43},
number={2},
pages={138-143},
year={2016},
doi={10.1108/IR-12-2015-0228},
URL={https://doi.org/10.1108/IR-12-2015-0228},
eprint={https://doi.org/10.1108/IR-12-2015-0228},
abstract={ Purpose – This paper aims to discuss search and rescue (SAR) and disaster relief robot developments, trials and applications and to answer the question posed in the title. Design/methodology/approach – Following a short introduction, this first describes Integrated Components for Assisted Rescue and Unmanned Search operations, a recent, collaborative, European research project, and euRathlon, a major robotics competition. It then highlights the role of the centre for robot-assisted search and rescue, and provides examples of the deployment of terrestrial, marine and airborne robots in real SAR and disaster relief situations. It concludes with a brief discussion. Findings – This shows that SAR and disaster relief robots are the topic of an extensive development effort, and many have performed well in simulated disaster scenarios. Terrestrial, marine and airborne robots have been used in many real disaster relief situations since 2001, and the use of unmanned aerial vehicles has proliferated due to recent technological developments. Robots now play an important role in supporting SAR teams, and this will certainly increase as the technologies are developed further. Originality/value – In an era characterized by extreme weather events and continuing military conflicts, robots play an increasingly important role in supporting human disaster response teams. This article provides details of developments, trials and real-world deployments of such robots.}
}

@inproceedings{Bonsignorio2009Defining,
title={Defining the requisites of a replicable robotics experiment},
author={Bonsignorio, F and Hallam, John and Del Pobil, A},
booktitle={RSS2009 Workshop on Good Experimental Methodologies in Robotics},
year={2009}
}

@inproceedings{Bordetsky2007TNT,
author={Bordetsky, Alex and Dougan, Arden and Chiann, Foo Y. and Kilberg, Andres},
title={TNT Maritime Interdiction Operation Experiments: Enabling Radiation Awareness and Geographically Distributed Collaboration for Network-Centric Maritime Interdiction Operations},
booktitle={12th International Command and Control Research and Technology Symposium (ICCRTS)},
month={June},
year={2007},
abstract={The paper addresses technological and operational challenges of developing a global plug-and-play Maritime Domain Security testbed. This joint Naval Postgraduate School (NPS)-Lawrence Livermore National Laboratory (LLNL) project, supported by partners from Sweden, Austria, and Singapore is based on the NPS Tactical Network Topology (TNT) comprised of long-haul OFDM networks combined with self-forming wireless mesh links to radiation detection sensors, and real-time radiation awareness collaboration with geographically distributed partners. In the center of our discussion are networking, sensor, and collaborative solutions for the Maritime Interdiction Operation (MIO) Experiments in which geographically distributed command centers and subject matter experts collaborate with the Boarding Party in real time to facilitate situational understanding and course of action selection. The most recent experiment conducted in the San Francisco Bay jointly with partners from Sweden, Singapore, and Austria proved feasibility and good potential of the proposed key technologies aimed at improving MIO.},
}

@inproceedings{Borg2016Design,
title={DESIGN, DEVELOPMENT, AND PRELIMINARY TESTING OF AN AUTONOMOUS AMPHIBIOUS ROBOT},
booktitle={Proceedings of The Canadian Society for Mechanical Engineering International Congress 2016
2016 CCToMM M3 Symposium},  
author={Borg, Mark and Nokleby, Scott and Puccini, Luke and Mezil, Addel and Lau, Brian and Dobrescu, Omer and Idris, Joseph and Chan, Alvin and Cain, Carla and Kelly Long and Keval Thaker and Kevin Lam},
year={2016},
institution={Faculty of Engineering and Applied Science},
month={June},
publisher={Canadian Society for Mechanical Engineering (CSME)},
}

@INPROCEEDINGS{Bowker2016Experimental, 
author={J. A. Bowker and N. C. Townsend and M. Tan and R. A. Shenoi}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Experimental analysis of submerged flapping foils; implications for autonomous surface vehicles (ASVs)}, 
year={2016}, 
pages={1-10}, 
abstract={Autonomous surface vehicles (ASVs) have proven effective as ocean observing platforms for maritime operations. In most cases it is advantageous to operate ASVs for extensive missions in order to maximize their cost effectiveness. Such long endurance missions require ASVs to be capable of scavenging ambient energy from the surrounding ocean environment.}, 
keywords={energy harvesting;marine propulsion;marine vehicles;remotely operated vehicles;wave power generation;ASV;PTO system;ambient energy scavenging;autonomous surface vehicles;design parameters;maritime operations;ocean observing platforms;ocean wave energy conversion;power generation;power take off system;propulsion;seakeeping characteristics;submerged flapping foils;Energy harvesting;Force;Generators;Propulsion;Sea surface;Surface waves;Vehicles}, 
doi={10.1109/OCEANS.2016.7761324}, 
month={Sept},}

@article{Brereton2007Lessons,
title="Lessons from applying the systematic literature review process within the software engineering domain ",
journal="Journal of Systems and Software ",
volume="80",
number="4",
pages="571 - 583",
year="2007",
note="Software Performance5th International Workshop on Software and Performance ",
issn="0164-1212",
doi="https://doi.org/10.1016/j.jss.2006.07.009",
url="http://www.sciencedirect.com/science/article/pii/S016412120600197X",
author="Pearl Brereton and Barbara A. Kitchenham and David Budgen and Mark Turner and Mohamed Khalil",
keywords="Systematic literature review",
keywords="Empirical software engineering ",
abstract="A consequence of the growing number of empirical studies in software engineering is the need to adopt systematic approaches to assessing and aggregating research outcomes in order to provide a balanced and objective summary of research evidence for a particular topic. The paper reports experiences with applying one such approach, the practice of systematic literature review, to the published studies relevant to topics within the software engineering domain. The systematic literature review process is summarised, a number of reviews being undertaken by the authors and others are described and some lessons about the applicability of this practice to software engineering are extracted. The basic systematic literature review process seems appropriate to software engineering and the preparation and validation of a review protocol in advance of a review activity is especially valuable. The paper highlights areas where some adaptation of the process to accommodate the domain-specific characteristics of software engineering is needed as well as areas where improvements to current software engineering infrastructure and practices would enhance its applicability. In particular, infrastructure support provided by software engineering indexing databases is inadequate. Also, the quality of abstracts is poor; it is usually not possible to judge the relevance of a study from a review of the abstract alone. "
}

@inproceedings{Bruemmer2004Call,
  title={" I call shotgun!": an evaluation of mixed-initiative control for novice users of a search and rescue robot},
author={Bruemmer, David J and Boring, Ronald L and Few, Douglas A and Marble, Julie L and Walton, Miles C},
booktitle={Systems, Man and Cybernetics, 2004 IEEE International Conference on},
volume={3},
pages={2847--2852},
year={2004},
organization={IEEE}
}

@INPROCEEDINGS{Bruzzone2013Cooperative, 
author={G. Bruzzone and M. Bibuli and M. Caccia and E. Zereik}, 
booktitle={2013 MTS/IEEE OCEANS - Bergen}, 
title={Cooperative robotic maneuvers for emergency ship towing operations}, 
year={2013}, 
pages={1-7}, 
abstract={This paper proposes the employment of marine robotic platforms for emergency ship towing operations. Automatic guidance algorithms are developed with the aim of providing cooperation and coordination of robots' motion. In particular a line-following technique is proposed as well as an improvement to a virtual target based path-following technique in order to take into account the modeling of a moving reference path. To prove the validity of the proposed concept, a set of experimental results is also reported.}, 
keywords={motion control;path planning;service robots;ships;automatic guidance algorithms;cooperative robotic maneuvers;emergency ship towing operations;line-following technique;marine robotic platforms;path-following technique;robot motion cooperation;robot motion coordination;virtual target;Marine vehicles;Navigation;Robot kinematics;Subspace constraints;Tracking;Vehicles}, 
doi={10.1109/OCEANS-Bergen.2013.6608012}, 
month={June},}

@article {Bruzzone2017Cooperative,
author={Bruzzone, G. and Bibuli, M. and Zereik, E. and Ranieri, A. and Caccia, M.},
title={Cooperative adaptive guidance and control paradigm for marine robots in an emergency ship towing scenario},
journal={International Journal of Adaptive Control and Signal Processing},
volume={31},
number={4},
issn={1099-1115},
url={http://dx.doi.org/10.1002/acs.2667},
doi={10.1002/acs.2667},
pages={562--580},
keywords={robots cooperation, autonomous guidance, marine vehicles},
year={2017},
note={acs.2667},
abstract={This paper focuses on the control strategy needed by marine robots to be able to follow moving paths within a cooperative framework. This control aspect is essential in order to effectively perform emergency ship towing operations. In particular, these robots coordinate their motion, with the aim of performing an autonomous tying operation, linking the messenger line of a distressed ship to a salvage tugboat. Automatic guidance algorithms are developed in order to provide cooperation and coordination of robots' motion, in such a way to perform the knotting maneuver between the two employed vehicles. In particular, the major contribution of the present work in terms of adaptive control methodology consists in extending a well-known path following strategy for multi-vehicle cooperation to cope with moving reference paths. Extensive experimental testing validates the proposed concept, also pointing out the feasibility and effectiveness of the developed system in real-case scenarios.},
}

@INPROCEEDINGS{Burke2004Human, 
author={J. L. Burke and R. R. Murphy}, 
booktitle={RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759)}, 
title={Human-robot interaction in USAR technical search: two heads are better than one}, 
year={2004}, 
pages={307-312}, 
abstract={Effective human-robot interaction in urban search and rescue robotics currently requires a minimum 2:1 human-to-robot ratio. The demands are not just physical (though the task at present is facilitated by having a second person assist with physical robot operations); cognitive challenges are presented by the key-hole effect, teleproprioception and telekinesthesis. In studies with 2:1 robot teams, operators who talked more with their teammates about the search environment, the robot's situatedness in that environment, and search strategies seemed to develop a shared mental model of both the search environment and the task at hand. Moreover, operators who talked more about goal-directed aspects of the search task with their teammates were rated as having better situation awareness and task performance. Effective teams were nine times more likely to find victims in search exercises. This suggests that robot-assisted search and rescue is a team task and good human-robot interaction is critical to performance.}, 
keywords={cognitive systems;man-machine systems;mobile robots;multi-robot systems;telerobotics;USAR technical search;cognitive challenges;human-robot interaction;robot assisted rescue;robot assisted search;robot teams;telekinesthesis;teleproprioception;urban search and rescue robotics;Cognitive robotics;Cognitive science;Electronic mail;Human robot interaction;Mars;Medical robotics;Mobile robots;Navigation;Robot sensing systems;Unmanned aerial vehicles}, 
doi={10.1109/ROMAN.2004.1374778}, 
month={Sept},}

@article{Burke2004Moonlight,
author={ Jennifer L.   Burke  and  Robin R.   Murphy  and  Michael D.   Coovert  and  Dawn L.   Riddle },
title={Moonlight in Miami: Field Study of Human-Robot Interaction in the Context of an Urban Search and Rescue   Disaster Response Training Exercise},
journal={Human–Computer Interaction},
volume={19},
number={1-2},
pages={85-116},
year={2004},
doi={10.1080/07370024.2004.9667341},
URL={http://www.tandfonline.com/doi/abs/10.1080/07370024.2004.9667341},
eprint={http://www.tandfonline.com/doi/pdf/10.1080/07370024.2004.9667341},
abstract={ This article explores human-robot interaction during a 16-hr, high-fidelity urban search and rescue disaster response drill with teleoperated robots. This article examines operator situation awareness and technical search team interaction using communication analysis. It analyzes situation awareness, team communication, and the interaction of these constructs using a systematic coding scheme designed for this research. The findings indicate that operators spent significantly more time gathering information about the state of the robot and the state of the environment than they did navigating the robot. Operators had difficulty integrating the robot's view into their understanding of the search and rescue site. They compensated for this lack of situation awareness by communicating with team members at the site, attempting to gather information that would provide a more complete mental model of the site. They also worked with team members to develop search strategies. The article concludes with suggestions for design and future research. }
}

@article{Buxton2016Autonomous,
author={Buxton, Bridget and Jacob Sharvit and Dror Planer and Nikola Mi\v{s}kovi\'{c} and John Hale.},
title={“An ASV (Autonomous Surface Vehicle) for Archaeology: The Pladypos at Caesarea Maritima, Israel.},
booktitle={In Mobilizing the Past for a Digital Future: The Potential of Digital Archaeology}, 
editor={Erin Walcek Averett and Jody Michael Gordon and Derek B. Counts},
pages={279-315},
publisher={Grand Forks, ND: The Digital Press at the University of North Dakota},
year={2016},
}

@inproceedings{caccia2005design,
title={Design and exploitation of an autonomous surface vessel for the study of sea-air interactions},
author={Caccia, Massimo and Bono, Riccardo and Bruzzone, Ga and Bruzzone, Gi and Spirandelli, Edoardo and Veruggio, Gianmarco and Stortini, Angela Maria},
booktitle={Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on},
pages={3582--3587},
year={2005},
organization={IEEE}
}

@INPROCEEDINGS{Caccia2006Autonomous, 
author={M. Caccia}, 
booktitle={2006 14th Mediterranean Conference on Control and Automation}, 
title={Autonomous Surface Craft: prototypes and basic research issues}, 
year={2006}, 
pages={1-6}, 
abstract={An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments}, 
keywords={mobile robots;reviews;underwater vehicles;autonomous surface craft;autonomous vehicle;marine robotics;Application software;Marine vehicles;Mobile robots;Propulsion;Prototypes;Radio navigation;Remotely operated vehicles;Sea measurements;Sea surface;System testing;autonomous vehicles;marine robotics}, 
doi={10.1109/MED.2006.328786}, 
month={June},}

@article {Caccia2007Unmanned,
author="Caccia, M. and Bibuli, M. and Bono, R. and Bruzzone, Ga. and Bruzzone, Gi. and Spirandelli, E.",
title="Unmanned Surface Vehicle for Coastal and Protected Waters Applications: the Charlie Project",
journal="Marine Technology Society Journal",
volume="41",
number="2",
year="2007",
abstract="The paper deals with the design, development, test and exploitation of an unmanned surface vehicle (USV) for coastal and protected waters applications, such as sampling of the sea surface microlayer and harbor survey. The unmanned catamaran Charlie, which is fully autonomous from the point of view of both power supply and computing capabilities and is supervised by a portable human operator station, is characterized by a state-of-the-art hardware, software and control architecture. A PC-compatible computing platform and a GNU/Linux-based embedded real-time system support an intelligent control architecture, while advanced modeling and identification techniques, based on on-board sensors, allow the implementation of accurate navigation, guidance and control model-based algorithms. Results of experiments carried out on motion estimation and maneuvering control in the Genoa-Pr{\‘a} harbor are presented and discussed as well as the vessel exploitation in scientific applications and research projects.",
pages="62-71",
itemtype="ARTICLE",
parent_itemid="infobike://mts/mtsj",
issn="0025-3324",
publishercode ="mts",
url="http://www.ingentaconnect.com/content/mts/mtsj/2007/00000041/00000002/art00009",
doi="doi:10.4031/002533207787442259"
}

@Inbook{Caccia2013Towards,
author="Caccia, Massimo
and Saggini, Eleonora
and Bibuli, Marco
and Bruzzone, Gabriele
and Zereik, Enrica
and Riccomagno, Eva",
editor="Moreno-D{\'i}az, Roberto
and Pichler, Franz
and Quesada-Arencibia, Alexis",
title="Towards Good Experimental Methodologies for Unmanned Marine Vehicles",
bookTitle="Computer Aided Systems Theory - EUROCAST 2013: 14th International Conference, Las Palmas de Gran Canaria, Spain, February 10-15, 2013. Revised Selected Papers, Part II",
year="2013",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="365--372",
isbn="978-3-642-53862-9",
doi="10.1007/978-3-642-53862-9_47",
url="http://dx.doi.org/10.1007/978-3-642-53862-9_47"
}

@article{Caharija2015Comparison,
title="A Comparison Between the ILOS Guidance and the Vector Field Guidance",
journal="IFAC-PapersOnLine",
volume="48",
number="16",
pages="89 - 94",
year="2015",
note="",
issn="2405-8963",
doi="http://dx.doi.org/10.1016/j.ifacol.2015.10.263",
url="http://www.sciencedirect.com/science/article/pii/S2405896315021540",
author="Walter Caharija and Kristin Y. Pettersen and Pedro Calado and José Braga",
keywords="Path following",
keywords="Autonomous underwater vehicle",
keywords="Nonlinear control",
keywords="LOS guidance",
keywords="Experiments",
keywords="Signal processing",
abstract="This paper presents a quantitative comparison between two popular guidance laws for straight line path-following purposes of autonomous marine vehicles: the integral line-of-sight (ILOS) guidance law and the vector field (VF) guidance law. The comparison is based on experimental results and the cross track error measurements as well as the servo command signals are considered in the analysis. Both the guidance schemes are applied to the underactuated LAUV vehicle in the same environmental conditions with the same speed and heading controllers. The comparison separates between transient and steady-state behaviour, with focus on the latter. In particular, the cross-track error transfer functions for small time varying disturbances are derived for the two guidance schemes at equilibrium and similarities are found with the experimental results. The analysis concludes good path following performance for both the VF and the ILOS guidance laws, with the VF controller performing slightly better. However, the VF guidance scheme suffers from significant chattering on the horizontal rudders while the ILOS guidance law gives very smooth servo commands."
}

@ARTICLE{Caharija2016Integral, 
author={W. Caharija and K. Y. Pettersen and M. Bibuli and P. Calado and E. Zereik and J. Braga and J. T. Gravdahl and A. J. Sørensen and M. Milovanović and G. Bruzzone}, 
journal={IEEE Transactions on Control Systems Technology}, 
title={Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments}, 
year={2016}, 
volume={24}, 
number={5}, 
pages={1623-1642}, 
abstract={This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the embedded integral action, the guidance law makes the vessels follow straight lines by compensating for the drift effect of environmental disturbances, such as currents, wind, and waves. The ILOS guidance is first applied to a 2-D model of surface vessels that includes the underactauted sway dynamics of the vehicle as well as disturbances in the form of constant irrotational ocean currents and constant dynamic, attitude dependent, and forces. The actuated dynamics are not considered at this point. A Lyapunov closed-loop analysis yields explicit bounds on the guidance law gains to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES). The complete kinematic and dynamic closed-loop system of the 3-D ILOS guidance law is analyzed in the following and hence extending the analysis to underactuated autonomous underwater vehicles (AUVs) for the 3-D straight-line path-following applications in the presence of constant irrotational ocean currents. The actuated surge, pitch, and yaw dynamics are included in the analysis where the closed-loop system forms a cascade, and the properties of UGAS and ULES are shown. The 3-D ILOS control system is a generalization of the 2-D ILOS guidance. Finally, results from simulations and experiments are presented to validate and illustrate the theoretical results, where the 2-D ILOS guidance is applied to the cooperative autonomous robotics towing system vehicle and light AUV.}, 
keywords={Lyapunov methods;asymptotic stability;attitude control;autonomous underwater vehicles;closed loop systems;mobile robots;motion control;multi-robot systems;path planning;robot dynamics;robot kinematics;vehicle dynamics;2D surface vessel model;3D ILOS guidance law;3D straight-line path-following applications;AUV;ILOS guidance method;Lyapunov closed-loop analysis;UGAS;ULES;actuated pitch dynamics;actuated surge dynamics;actuated yaw dynamics;attitude dependent;constant dynamic;constant irrotational ocean currents;cooperative autonomous robotics;drift effect compensation;dynamic closed-loop system;environmental disturbances;integral line-of-sight guidance method;kinematic closed-loop system;underactuated autonomous underwater vehicles;underactuated marine vehicles;uniform global asymptotic stability;uniform local exponential stability;Dynamics;Sea surface;Stability analysis;Underwater vehicles;Vehicle dynamics;Vehicles;Cooperative autonomous robotics towing system (CART);experiments;light autonomous underwater vehicle (LAUV);line-of-sight (LOS) guidance;nonlinear control;path following;underactuated vessels;unmanned semisubmersible vehicle (USSV)}, 
doi={10.1109/TCST.2015.2504838}, 
ISSN={1063-6536}, 
month={Sept},}

@INPROCEEDINGS{Caiti2011Lagrangian, 
author={A. Caiti and V. Calabrò and S. Grammatico and A. Munafò and M. Stifani}, 
booktitle={OCEANS 2011 IEEE - Spain}, 
title={Lagrangian modeling of the Underwater Wave Glider}, 
year={2011}, 
pages={1-6}, 
abstract={This paper introduces a control-oriented modeling approach for a hybrid autonomous underwater vehicle: the Underwater Wave Glider. Thanks to a non-conventional design, the vehicle can accomplish both surface and underwater tasks, by changing its shape. The vehicle can operate as a wave glider at the sea surface, where the potential energy of the waves and the solar radiation can be exploited to recharge the onboard batteries, while moving at low speeds. Moreover, the Underwater Wave Glider can switch to the typical torpedo-shaped configuration in order to operate both as a Glider and as a self-propelled Autonomous Underwater Vehicle. The vehicle dynamics are modeled via a non-standard Lagrangian approach and some simulations are provided.}, 
keywords={remotely operated vehicles;solar radiation;underwater vehicles;vehicle dynamics;nonstandard Lagrangian approach;onboard batteries;self-propelled autonomous underwater vehicle;solar radiation;surface tasks;typical torpedo-shaped configuration;underwater tasks;underwater wave glider;vehicle dynamics;Hydrodynamics;Joints;Mathematical model;Potential energy;Sea surface;Vehicle dynamics;Vehicles}, 
doi={10.1109/Oceans-Spain.2011.6003429}, 
month={June},}

@ARTICLE{Calisi2009Improving,
author={Calisi, D. and Iocchi, L. and Nardi, D. and Randelli, G. and Ziparo, V.A.},
title={Improving search and rescue using contextual information},
journal={Advanced Robotics},
year={2009},
volume={23},
number={9},
pages={1199-1216},
doi={10.1163/156855309X452539},
note={cited By 0},
url={https://www.scopus.com/inward/record.uri?eid=2-s2.0-69649096958&doi=10.1163%2f156855309X452539&partnerID=40&md5=1a94c242534d0a1110423ae093cc3808},
affiliation={Dipartimento di Informatica e Sistemistica, 'Sapienza' University of Rome, Via Ariosto 25, 00185 Rome, Italy},
abstract={Search and rescue (SAR) is a challenging application for autonomous robotics research. The requirements of this kind of application are very demanding and are still far from being met. One of the most compelling requirements is the capability of robots to adapt their functionalities to harsh and heterogeneous environments. In order to meet this requirement, it is common to embed contextual knowledge into robotic modules. We have previously developed a context-based architecture that decouples contextual knowledge, and its use, from typical robotic functionalities. In this paper, we show how it is possible to use this approach to enhance the performance of a robotic system involved in SAR missions. In particular, we provide a case study on exploration and victim detection tasks, specifically tailored to a given SAR mission. Moreover, we extend our contextual knowledge formalism in order to manage complex rules that deal with spatial and temporal aspects that are needed to model mission requirements. The approach has been validated through several experiments that show the effectiveness of the presented methodology for SAR. © 2009 VSP.},
author_keywords={Context;  Exploration;  Search and rescue robots;  Victim detection},
document_type={Article},
source={Scopus},
}

@INPROCEEDINGS{Camilli2015Designing, 
author={Luis Camilli}, 
booktitle={Marine Technology Society and IEEE Oceanic Engineering Society OCEANS 2015 Environmental Intelligence}, 
title={Designing Ocean Drones for Maritime Security: The use of integrated sensing modalities to enhance situational awareness},
month={October},
year={2015}, 
pages={8}, 
abstract={Routine operations at sea such as environmental monitoring and security patrols involve substantial long-term
costs in terms of equipment and labor. Moreover, operating in hazardous conditions or during severe weather increases the probability of mission failure and in some cases endangers human lives. Recent advances in unmanned surface vehicle (USV) technologies show considerable promise in alleviating some of the dirty, dull and dangerous work required in maritime industry, ocean research, and law enforcement. In particular, aquatic surface drones like the Wave Adaptive Modular-Vessel (WAM-V) have the potential to serve as robust and highly scalable operational support vessels to rapidly characterize offshore threats from oil spills, hazardous chemical leaks and radioactive outfall. This manuscript describes the integration of a Chemical, Biological, Radiological, Nuclear and Explosives (CBRNE) sensor system with a remotely operated USV capable of transmitting real-time contamination measurements, video streams, and ancillary data to off-site incident commanders. Results from sea trials, simulations, and tactical operations guide discussion of the navigation, control and telemetry design elements applicable for configuring USV – environmental monitoring platforms capable of enhancing situational awareness for high-risk response and recovery efforts in the marine domain.},
}

@article{Campbell2012Review,
title="A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres ",
journal="Annual Reviews in Control ",
volume="36",
number="2",
pages="267 - 283",
year="2012",
note="",
issn="1367-5788",
doi="https://doi.org/10.1016/j.arcontrol.2012.09.008",
url="http://www.sciencedirect.com/science/article/pii/S1367578812000430",
author="S. Campbell and W. Naeem and G.W. Irwin",
keywords="USVs",
keywords="COLREGs",
keywords="Autonomy",
keywords="Collision avoidance",
keywords="Guidance",
keywords="Motion planning ",
abstract="In recent years unmanned vehicles have grown in popularity, with an ever increasing number of applications in industry, the military and research within air, ground and marine domains. In particular, the challenges posed by unmanned marine vehicles in order to increase the level of autonomy include automatic obstacle avoidance and conformance with the Rules of the Road when navigating in the presence of other maritime traffic. The \{USV\} Master Plan which has been established for the \{US\} Navy outlines a list of objectives for improving autonomy in order to increase mission diversity and reduce the amount of supervisory intervention. This paper addresses the specific development needs based on notable research carried out to date, primarily with regard to navigation, guidance, control and motion planning. The integration of the International Regulations for Avoiding Collisions at Sea within the obstacle avoidance protocols seeks to prevent maritime accidents attributed to human error. The addition of these critical safety measures may be key to a future growth in demand for USVs, as they serve to pave the way for establishing legal policies for unmanned vessels. "
}

@article{Campbell2012Rule,
title="A Rule-based Heuristic Method for COLREGS-compliant Collision Avoidance for an Unmanned Surface Vehicle",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="386 - 391",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00066",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312605",
author="S. Campbell and W. Naeem",
keywords="Autonomous vehicles",
keywords="marine surface vessels",
keywords="path planning",
keywords="collision avoidance",
keywords="COLREGs",
keywords="heuristics",
keywords="guidance",
abstract="With an increasing demand throughout industry for autonomous vehicles with more intelligent decision-making features, the issue of Unmanned Surface Vehicle (USV) navigation is addressed with respect to automatic obstacle avoidance. This Obstacle Detection and Avoidance (ODA) system design approach addresses the primary concern, the safety of a USV in operation. Due to the desire for improved autonomy and thus reduced human interaction, it is essential to incorporate vessel avoidance protocols into the ODA architecture for operation amongst maritime traffic, implementing the marine Rules of the Road. A heuristic Rule-based Repairing A* (R-RA*) algorithm is proposed, which is integrated within a decision-making framework. The integrated system has proven effective in simulations for path planning in real-time, in accordance with the International Regulations for Preventing Collisions at Sea."
}

@article{Campbell2014Automatic,
author={Sable Campbell and Mamun Abu-Tair and Wasif Naeem},
title={An automatic COLREGs-compliant obstacle avoidance system for an unmanned surface vehicle},
journal={Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment},
volume={228},
number={2},
pages={108-121},
year={2014},
doi={10.1177/1475090213498229},
URL={http://dx.doi.org/10.1177/1475090213498229},
eprint={http://dx.doi.org/10.1177/1475090213498229},
abstract={ Unmanned surface vehicles are becoming increasingly vital tools in a variety of maritime applications. Unfortunately, their usability is severely constrained by the lack of a reliable obstacle detection and avoidance system. In this article, one such experimental platform is proposed, which performs obstacle detection, risk assessment and path planning (avoidance) tasks autonomously in an integrated manner. The detection system is based on a vision-LIDAR (light detection and ranging) system, whereas a heuristic path planner is utilised. A unique property of the path planner is its compliance with the marine collision regulations. It is demonstrated through hardware-in-the-loop simulations that the proposed system can be useful for both uninhabited and manned vessels. }
}

@article{Cardoso2017HoverSea,
title={HoverSea: Inspec{\c{c}}{\~a}o de estruturas mar{\'\i}timas utilizando um drone e um catamar{\~a} aut{\'o}nomo},
author={Cardoso, Diogo},
year={2017},
month={Feb},
institution={FACULDADE DE ENGENHARIA DA UNIVERSIDADE DO PORTO},
}

@INPROCEEDINGS{Carlson2004Follow, 
author={J. Carlson and R. R. Murphy and A. Nelson}, 
booktitle={Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on}, 
title={Follow-up analysis of mobile robot failures}, 
year={2004}, 
volume={5}, 
pages={4987-4994 Vol.5}, 
abstract={Mobile robot reliability must be guaranteed before they can be employed in hazardous domains like mine clearing or nuclear waste handling, but recent studies of robots used in urban search and rescue and military scenarios have shown a mean time between failures (MTBF) in the field of 6 to 20 hours. This paper extends previous work characterizing robot failures by including recent data and organizing failures according to a novel taxonomy , which includes human failures. Failure type and frequency data were collected from 15 robots representing three manufacturers and seven models over a period of three years, in a variety of environments. Standard manufacturing measures for product reliability were used. The results show that overall MTBF and availability have improved since the previous analysis but are still low. The MTBF across all robot types was 24 hours and availability was 54%. The control system was the most common source of failures (32%), followed by the mechanical platform. Statistical analysis shows that the time between failures, time to repair, and downtime vary widely. For this reason the means reported here are not reliable predictors for future failures, but still provide information on the overall frequency and consequences of mobile robot failures.}, 
keywords={failure analysis;mobile robots;reliability;statistical analysis;follow-up analysis;mean time between failure;mine clearing;mobile robot failure;mobile robot reliability;nuclear waste handling;statistical analysis;taxonomy;Availability;Failure analysis;Frequency;Humans;Mobile robots;Organizing;Radioactive pollution;Taxonomy;Virtual manufacturing;Waste handling}, 
doi={10.1109/ROBOT.2004.1302508}, 
ISSN={1050-4729}, 
month={April},}


@article{Caron2008Macro,
title={Macro-to fine-scale spatial and temporal distributions and dynamics of phytoplankton and their environmental driving forces in a small montane lake in southern California, USA},
author={Caron, David A and Stauffer, Beth and Moorthi, Stefanie and Singh, Amarjeet and Batalin, Maxim and Graham, Eric A and Hansen, Mark and Kaiser, William J and Das, Jnaneshwar and Pereira, Arvind and others},
journal={Limnology and Oceanography},
volume={53},
number={5},
pages={2333},
year={2008}
}

@article{Carragher2014New,
title={A new platform for offshore exploration and production},
author={Carragher, Peter and Hine, Graham and Legh-Smith, Patrick and Mayville, Jeffrey and Nelson, Rod and Pai, Sudhir and Parnum, Iain and Shone, Paul and Smith, Jonathan and Tichatschke, Christian},
journal={Oilfield Review},
volume={25},
number={4},
pages={40--50},
year={2014},
abstract={Accurate data are essential for developing climate models and weather forecasts used in planning offshore E\&P operations. A new remotely controlled, autonomous marine vehicle has been developed to carry a variety of sensors for conducting detailed meteorological and oceanographic surveys across vast distances and under extreme conditions. The role of this new sensor platform is expanding to support an even broader range of missions.}
}

@INPROCEEDINGS{Casalino2016ISME,
author={G. Casalino and B. Allotta and G. Antonelli and A. Caiti and G. Conte and G. Indiveri and C. Melchiorri and E. Simetti},
booktitle={OCEANS 2016 - Shanghai},
title={ISME research trends: Marine robotics for emergencies at sea},
year={2016},
volume={},
number={},
pages={1-5},
abstract={One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical moment, especially in the Mediterranean sea. Within such a dramatic context, the use of robots could certainly provide helpful for the execution of patrolling and detection, identification and classification of interesting elements, such as people to be saved or oil leaks, as well as the successive execution of the intervention/rescue strategy. This paper presents the Key Enabling Technologies as well as some Key Research Areas that are being currently investigated by ISME toward the ambitious objective of employing robotic solutions for the management of emergencies at sea.},
keywords={accident prevention;emergency management;marine control;marine vehicles;mobile robots;multi-robot systems;remotely operated vehicles;ISME;USV;autonomous robot;integrated systems for marine environment;marine cooperative team;marine robotics;sea emergency management;sea emergency prevention;unmanned surface vehicle;Feature extraction;Market research;Robots;Robustness;Sea surface;Security;Vehicles},
doi={10.1109/OCEANSAP.2016.7485616},
ISSN={},
month={April},}

@ARTICLE{Casper2003Human, 
author={J. Casper and R. R. Murphy}, 
journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)}, 
title={Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center}, 
year={2003}, 
volume={33}, 
number={3}, 
pages={367-385}, 
abstract={The World Trade Center (WTC) rescue response provided an unfortunate opportunity to study the human-robot interactions (HRI) during a real unstaged rescue for the first time. A post-hoc analysis was performed on the data collected during the response, which resulted in 17 findings on the impact of the environment and conditions on the HRI: the skills displayed and needed by robots and humans, the details of the Urban Search and Rescue (USAR) task, the social informatics in the USAR domain, and what information is communicated at what time. The results of this work impact the field of robotics by providing a case study for HRI in USAR drawn from an unstaged USAR effort. Eleven recommendations are made based on the findings that impact the robotics, computer science, engineering, psychology, and rescue fields. These recommendations call for group organization and user confidence studies, more research into perceptual and assistive interfaces, and formal models of the state of the robot, state of the world, and information as to what has been observed.}, 
keywords={emergency services;man-machine systems;robots;HRI;World Trade Center rescue;assistive interfaces;group organization;human-robot interactions;perceptual interfaces;urban search and rescue response;user confidence studies;Cities and towns;Computer science;Disaster management;Human robot interaction;Informatics;Information analysis;Inspection;Performance analysis;Terrorism;Video recording}, 
doi={10.1109/TSMCB.2003.811794}, 
ISSN={1083-4419}, 
month={June},}

@INPROCEEDINGS{Casper2007Combining, 
author={A. F. Casper and M. L. Hall and B. Dixon and E. T. Steimle}, 
booktitle={OCEANS 2007}, 
title={Combining Data Collection from Unmanned Surface Vehicles with Geospatial Analysis: Tools for Improving Surface Water Sampling, Monitoring, and Assessment}, 
year={2007}, 
pages={1-6}, 
abstract={Tidal rivers and accompanying coastal environments represent critical links between the open estuary and the local tributary and watershed. In Florida, these coastal ecosystems are multi-use systems. They are often a primary source of water for agricultural, industrial, and human consumption all while functioning as commercial and recreational shipping thoroughfares and receiving storm water runoff and NPDES discharges. In addition to their importance for those direct human uses, their quality and characteristics directly affect the spawning, nursery, and juvenile habitats for numerous commercial and sport fisheries. Thus monitoring and assessment, especially identifying spatial patterns or trends in water chemistry (e.g. temperature, conductivity, salinity, turbidity, chlorophyll, dissolved organic matter and dissolved gasses), of these tidal environments can represent a complex sampling and analysis challenge. There is a perception that sampling and analyzing parameters at regularly spaced intervals over the surface area of a river system will be representative of general trends. However, standard sampling strategy assumes both that parameters will change in a consistent longitudinal and downstream manner and that the average of a parameter is the level where negative impacts occur. Using an innovative combination of unmanned surface vehicles (US V) and geospatial analytical techniques, we will show that this perception is not an entirely accurate or complete view.}, 
keywords={environmental management;marine vehicles;oceanographic techniques;oceanography;remotely operated vehicles;seawater;water resources;Florida;NPDES discharges;chlorophyll content;coastal ecosystems;data collection;dissolved gas content;dissolved organic matter;electrical conductivity;geospatial analysis;local tributary;ocean monitoring;ocean water assessment;open estuary;salinity;storm water runoff;surface water sampling;tidal rivers;turbidity;unmanned surface vehicles;water chemistry;water temperature;watershed;Ecosystems;Humans;Marine vehicles;Monitoring;Rivers;Sampling methods;Sea measurements;Shipbuilding industry;Water resources;Water storage}, 
doi={10.1109/OCEANS.2007.4449189}, 
ISSN={0197-7385}, 
month={Sept},}


@techreport{Chase2015Emerging,
title={Emerging Trends in China's Development of Unmanned Systems},
author={Chase, Michael S and Gunness, Kristen A and Morris, Lyle J and Berkowitz, Samuel K and Purser III, Benjamin S},
year={2015},
institution={RAND NATIONAL DEFENSE RESEARCH INST SANTA MONICA CA}
}

@article{Chavez2017Measurements,
title="Measurements of pCO2 and pH from an autonomous surface vehicle in a coastal upwelling system ",
journal="Deep Sea Research Part II: Topical Studies in Oceanography ",
volume="",
number="",
pages=" - ",
year="2017",
note="",
issn="0967-0645",
doi="https://doi.org/10.1016/j.dsr2.2017.01.001",
url="http://www.sciencedirect.com/science/article/pii/S0967064516302338",
author="Francisco P. Chavez and Jeff Sevadjian and Chris Wahl and Jules Friederich and Gernot E. Friederich",
keywords="Carbon dioxide",
keywords="pH",
keywords="Upwelling",
keywords="Autonomous surface vehicle",
keywords="Wave Glider",
keywords="USA",
keywords="California",
keywords="Monterey Bay ",
abstract="Abstract Anthropogenic input of carbon dioxide (CO2) into the atmosphere and its uptake by the ocean with associated changes in ocean chemistry have created an urgent need to expand coverage of sea surface and atmospheric carbon dioxide observations. Conventional sampling platforms (e.g. ships and moorings) do not provide the spatial and temporal resolution needed to assess the effects of rapidly changing carbon dioxide conditions and are expensive to operate. Through a series of deployments beginning in March 2012, two versions of the Wave Glider autonomous surface vehicles from Liquid Robotics, Inc. have been instrumented with sensors to measure pH, partial pressure of \{CO2\} (pCO2) of the atmosphere and sea surface, and wind speed and direction, from which instantaneous sea-air fluxes of \{CO2\} can be calculated. These deployments, most near Monterey Bay, California, were highly correlated with ΔpCO2 measurements obtained from the Monterey Bay Aquarium Research Institute's (MBARI) long-term mooring station M1, as well as from shipboard observations. In the central California upwelling system with highly variable pCO2 levels, the gliders captured large spatial gradients associated with upwelling fronts. Differences in sea surface pCO2 as large as 470 μatm over < 0.5 km were observed. Unlike traditional ship sampling methods, however, this new generation of sampling platforms is capable of continuous long-term (months) deployments at a fraction of the cost. The vehicles thus have the potential of filling important gaps in present understanding of the effects of global change on ocean chemistry. "
}

@INPROCEEDINGS{Chavez2017Stereo,
author={A. G. Chavez and C. A. Mueller and A. Birk and A. Babic and N. Mi\v{s}kovi\'{c}},
booktitle={OCEANS 2017 - Aberdeen},
title={Stereo-vision based diver pose estimation using LSTM recurrent neural networks for AUV navigation guidance},
year={2017},
volume={},
number={},
pages={1-7},
abstract={Within the EU FP7 project “Cognitive autonomous diving buddy (CADDY)”, work has been made to assist and monitor divers through Autonomous Underwater Vehicles (AUVs) during their long underwater expeditions. To achieve this goal, one milestone is to give the AUV the capability to track the diver's whereabouts at all times. Inertial sensors are mounted on the diver's body to transmit acoustically his relative position and orientation to the AUV using an Ultra-Short Baseline (USBL) system. However, the acoustic system is prone to give erroneous data depending on the surrounding geography, modems alignment and sensors calibration, plus its low transmission rate does not allow real time performance. To overcome these drawbacks and complement the acoustic set-up, this paper presents a general framework to detect and estimate the diver's body pose based on generated point clouds from a stereo camera. Our method is based on a Long Short-Term Memory Recurrent Neural Network (LSTM-RNN) that captures the temporal relations between global point cloud descriptors as they change with the diver movements. Since the analysis is made on time sequences rather than on one-shot visual information, the framework is robust against the distortions and poor quality typical in underwater while still providing real time performance. We focus on the description of the image-processing and LSTM-RNN pipeline, as well on its validation with a dataset created during several field trial experiments.},
keywords={autonomous underwater vehicles;image sensors;inertial navigation;pose estimation;radionavigation;recurrent neural nets;stereo image processing;underwater acoustic communication;Ultra-Short Baseline system;acoustic system;modems alignment;sensors calibration;low transmission rate;generated point clouds;stereo camera;Long Short-Term Memory Recurrent Neural Network;LSTM-RNN;temporal relations;global point cloud descriptors;diver movements;time sequences;image-processing;LSTM recurrent neural networks;AUV navigation guidance;EU FP7 project Cognitive autonomous diving buddy;Autonomous Underwater Vehicles;long underwater expeditions;inertial sensors;stereo-vision based diver pose estimation;CADDY;Sensors;Three-dimensional displays;Cameras;Sonar;Pose estimation;Acoustics;Real-time systems},
doi={10.1109/OCEANSE.2017.8085020},
ISSN={},
month={June},}


@article{Chen2015Modeling,
author={Chen, Baozhi and Pompili, Dario},
title={Modeling Position Uncertainty of Networked Autonomous Underwater Vehicles},
journal={Ad Hoc Netw.},
issue_date={November 2015},
volume={34},
number={C},
month=nov,
year={2015},
issn={1570-8705},
pages={184--195},
numpages={12},url={https://doi.org/10.1016/j.adhoc.2014.09.003},
doi={10.1016/j.adhoc.2014.09.003},
acmid={2853375},
publisher={Elsevier Science Publishers B. V.},
address={Amsterdam, The Netherlands, The Netherlands},
keywords={Autonomous underwater vehicles, Position uncertainty, Underwater sensor networks, Unscented Kalman Filter},
abstract={Recently there has been increasing engineering activity in the deployment of Autonomous Underwater Vehicles (AUVs). Different types of AUVs are being used for applications ranging from ocean exploration to coastal tactical surveillance. These AUVs generally follow a predictable trajectory specified by the mission requirements. Inaccuracies in models for deriving position estimates and the drift caused by ocean currents, however, lead to uncertainty when estimating an AUV's position. In this article, two forms of position uncertainty - internal and external - are studied, which are the position uncertainty associated with a particular AUV as seen by itself and that as seen by others, respectively. Then, a statistical model to estimate the internal uncertainty for a general AUV is proposed. Based on this model, a novel mathematical framework using Unscented Kalman Filtering is developed to estimate the external uncertainty. Finally, the benefits of this framework for several location-sensitive applications are shown via emulations.},
} 

@Inbook{Choyekh2017Development,
author="Choyekh, Mahdi and Kato, Naomi and Yamaguchi, Yasuaki and Dewantara, Ryan and Chiba, Hajime and Senga, Hidetaka and Yoshie, Muneo and Tanaka, Toshinari and Kobayashi, Eiichi and Short, Timothy",
title="Development and Operation of Underwater Robot for Autonomous Tracking and Monitoring of Subsea Plumes After Oil Spill and Gas Leak from Seabed and Analyses of Measured Data",
bookTitle="Applications to Marine Disaster Prevention: Spilled Oil and Gas Tracking Buoy System",
year="2017",
publisher="Springer Japan",
address="Tokyo",
pages="17--93",
isbn="978-4-431-55991-7",
doi="10.1007/978-4-431-55991-7_3",
url="http://dx.doi.org/10.1007/978-4-431-55991-7_3",
abstract="Oil spills produced by accidents from oil tankers and blowouts of oil and gas from offshore platforms cause tremendous damage to the environment as well as to marine and human life. To prevent oil and gas that are accidentally released from deep water from spreading and causing further damage to the environment over time, early detection and monitoring systems can be deployed to the area where underwater releases of the oil and gas first occurred. Monitoring systems can provide a rapid inspection of the area by detecting chemical substances and collecting oceanographic data necessary for enhancing the accuracy of simulation of behavior of oil and gas. An autonomous underwater vehicle (AUV) called the spilled oil and gas tracking autonomous buoy system (SOTAB-I) has been developed to perform on-site measurements of oceanographic data as well as dissolved chemical substances using underwater mass spectrometry. In this chapter, the outlines of SOTAB-I and a description of its hardware and software are presented. The operating modes and guidance and control of the robot are detailed. The experimental results obtained during the early deployments of SOTAB-I in the shallow water of the Gulf of Mexico in the USA demonstrated the ability of SOTAB-I to collect substances’ dissolutions in seawater such as hydrocarbons. Deepwater experiments were conducted in Toyama Bay in Japan and enabled demonstration of the ability of SOTAB-I to establish the vertical water column distribution of oceanographic data, such as temperature, salinity, and density. In addition, a high-resolution profile of water currents was obtainable.",
}

@misc{Clare2017Direct,
title={Direct monitoring of active geohazards: emerging geophysical tools for deep-water assessments},
url={eartharxiv.org/m3gkj},
DOI={10.3997/1873-0604.2017033},
publisher={EarthArXiv},
author={Clare, Michael and Talling, Peter and Cartigny, Matthieu and Dix, Justin and Belal, Mohammad and Himsworth, Matt and Harris, John and Whitehouse, Richard},
year={2017},
month={Oct},
abstract={Seafloor networks of cables, pipelines, and other infrastructure underpin our daily lives, providing communication links, information, and energy supplies. Despite their global importance, these networks are vulnerable to damage by a number of natural seafloor hazards, including landslides, turbidity currents, fluid flow, and scour. Conventional geophysical techniques, such as high-resolution reflection seismic and side-scan sonar, are commonly employed in geohazard assessments. These conventional tools provide essential information for route planning and design; however, such surveys provide only indirect evidence of past processes and do not observe or measure the geohazard itself. As such, many numerical-based impact models lack field-scale calibration, and much uncertainty exists about the triggers, nature, and frequency of deep-water geohazards. Recent advances in technology now enable a step change in their understanding through direct monitoring. We outline some emerging monitoring tools and how they can quantify key parameters for deepwater geohazard assessment. Repeat seafloor surveys in dynamic areas show that solely relying on evidence from past deposits can lead to an under-representation of the geohazard events. Acoustic Doppler current profiling provides new insights into the structure of turbidity currents, whereas instrumented mobile sensors record the nature of movement at the base of those flows for the first time. Existing and bespoke cabled networks enable high bandwidth, low power, and distributed measurements of parameters such as strain across large areas of seafloor. These techniques provide valuable new measurements that will improve geohazard assessments and should be deployed in a complementary manner alongside conventional geophysical tools.},
}

@INPROCEEDINGS{Claus2016Towards, 
author={B. Claus and J. Kinsey and Y. Girdhar}, 
booktitle={2016 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={Towards persistent cooperative marine robotics}, 
year={2016}, 
pages={416-422}, 
abstract={This work describes the ongoing effort to derive methods to collectively direct a heterogeneous group of vehicles trajectories, velocities, communication rates and sampling rates by the navigational accuracy required, energy consumption, communication performance and observational goals. These methods are being experimentally validated through field trials during the Summer and Fall of 2016. Initial results demonstrate the utility of using fine scale regional oceanographic models as a tool to locate features of interest; inform the spatial extents, bandwidth and power usage of both satellite and acoustic communication methods; and provide data on the performance and energy usage of the acoustically aided and dead-reckoned navigation methods.}, 
keywords={cooperative systems;marine control;mobile robots;multi-robot systems;path planning;satellite navigation;acoustic communication;acoustically aided navigation methods;dead-reckoned navigation methods;energy usage;persistent cooperative marine robotics;regional oceanographic models;satellite communication;Navigation;Planning;Satellite broadcasting;Satellites;Sea surface;Vehicles}, 
doi={10.1109/AUV.2016.7778706}, 
month={Nov},}

@inproceedings{Clauss2010Hull,
Title={Hull Optimization of the Unmanned AGaPaS Rescue Vessel},
booktitle={29th International Conference on Ocean, Offshore and Arctic Engineering},
Abstract={Crew safety is a key parameter for any seagoing mission. Although today’s standards are high, occasionally people go overboard while working on deck. In this case the probability of survival remains low. The joint research project “AGaPaS” [1] aims to significantly increase the chances of survival for a drifting person. Its main objective is to develop a self activating, partially autonomously operating rescue system, able to search, find and rescue people gone overboard. A crucial part of the system is a remotely operated vessel, which is released by free fall from a mother ship. This paper focuses on the hull optimization of this rescue vessel, considering various aspects. The rescue operability has first priority and leads to numerous system specifications such as main dimensions. In addition, adequate seakeeping behaviour is a prerequisite for the successful recovery of a person in distress. This includes small relative motions between the vessel and the drifting person. Moreover, the vessel’s free fall characteristics are to be analyzed. Here, particular interest has been laid on the reduction of the peak acceleration as well as on transferring the vertical velocity into a horizontal motion, in order to minimize the risk of a collision with the mother ship. Various hull geometries have been investigated by means of numerical methods as well as model tests leading to the final hull design of the unmanned AGaPaS rescue vessel.},
Author={Clauss, Gunther F. and Kauffeldt, Andre and Otten, Nils and Stuppe, Sven},
Comment={10.1115/OMAE2010-20386},
Doi={10.1115/OMAE2010-20386},
ISBN={978-0-7918-4909-5},
Number={49095},
series={-},
Pages={245--254},
Url={http://dx.doi.org/10.1115/OMAE2010-20386},
location={Shanghai, China},
publisher={ASME, Conference Sponsors: Ocean, Offshore and Arctic Engineering Division},
month={Jun},
Year={2010}
}

@inproceedings{Clauss2011Identification,
Title={Identification of Favourable Free Fall Parameters for the AGaPaS Rescue Catamaran},
booktitle={ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering},
volume={6: Ocean Engineering, 44380},
Abstract={The joint research project “AGaPaS” (Autonomous Galileo-supported Rescue Vessel for Persons overboard) aims to significantly raise the chances of survival for people who have gone overboard. Its main objective is to develop a self activating, partially autonomously operating rescue system, able to search, find and rescue a drifting person [1]. A crucial part of the system is a remotely operated vessel, which is released by free fall from a mother ship. This type of launch offers a minimum response time but comes with the disadvantage of high loads for the rescue vessel and its equipment. A particular challenge is posed by the catamaran shaped hull, being dropped from a cruising ship. The goal is to find an optimum in the occurring accelerations and pressure loads applied to the hull. While the pressure loads have a direct impact on the strength of the hull, the accelerations mainly affect the boat equipment and its mountings. The hull optimization has already been conducted [2], therefore, this publication focuses on the identification of favourable launch parameters. Within the scope of this investigation crucial parameters such as cruise speed, drop height and launch angle are varied. All free falls are analyzed by means of computational fluid dynamics (CFD), whereas selected cases are validated by experimental data.},
Author={Clauss, Gunnther F. and Kauffeldt, Andre and Otten, Nils and Stuppe, Sven},
Comment={10.1115/OMAE2011-50156},
Doi={10.1115/OMAE2011-50156},
isbn={978-0-7918-4438-0},
Pages={849--857},
Url={http://dx.doi.org/10.1115/OMAE2011-50156},
month={June},
Year={2011}
}

@article{Coley2015Unmanned,
title={Unmanned Surface Vehicles: The Future of Data-Collection},
author={Coley, Kira},
journal={Ocean Challenge},
publisher={the challenger society for Marine Science},
volume={21},
number={1},
pages={14-15},
year={2015},
}

@phdthesis{Colito2007Autonomous,
  title={Autonomous mission planning and execution for unmanned surface vehicles in compliance with the marine rules of the road},
  author={Colito, James},
  year={2007},
  school={University of Washington}
}

@article{Conte2012Modeling,
title="Modeling and control of a low-cost ASV",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="429 - 434",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00073",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312678",
author="G. Conte and G.P. De Capua and D. Scaradozzi",
keywords="Autonomous Surface Vehicles (ASVs)",
keywords="Navigation",
keywords="Guidance and Control systems (NGCs)",
keywords="Marine Systems",
keywords="Nonlinear Control",
abstract="This paper describes the modeling of the dynamics and the realization of the control system of an Autonomous Surface Vehicle (ASV) that is part of an integrated surface/underwater robotic system. The distinctive characteristic of the vehicle, that is realized with commercial components, is that of being propelled by an outboard, steering electric motor. The main task the control system has to perform is that of keeping the ASV within a given range from a moving target, using position information. This ability is necessary in order to ensure that the ASV can act autonomously as supply vessel of a microROV it carries and can deploy. Emphasis is on the definition of a suitable control architecture, that matches the dynamics of the ASV and takes into account the fact that the system is underactuated. Performances are investigated by means of suitable simulations."
}

@INPROCEEDINGS{Conte2015ROS, 
author={G. Conte and D. Scaradozzi and L. Sorbi and L. Panebianco and D. Mannocchi}, 
booktitle={OCEANS 2015 - Genova}, 
title={ROS multi-agent structure for autonomous surface vehicles}, 
year={2015}, 
pages={1-6}, 
abstract={This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and a microcontroller. This hybrid hardware architecture has the advantage of providing high computational capability and easy interfacing with sensors and actuators. Some results about testing and validating the NGC system are presented and discussed.}, 
keywords={actuators;autonomous underwater vehicles;maintenance engineering;microcontrollers;mobile robots;multi-agent systems;reliability;sensors;ARM processor;ASV;NGC system;ROS multiagent structure;actuator;autonomous surface vehicle;computational capability;custom developed hardware board;hybrid hardware architecture;maintenance;microcontroller;multiagent navigation guidance and control system;reliability;robot operating system;Boats;Computer architecture;Global Positioning System;Hardware;Robots;Vehicles;Autonomous Surface Vehicles;Multi-Agent Systems;Navigation Guide and Control Systems;Robot Operating System}, 
doi={10.1109/OCEANS-Genova.2015.7271543}, 
month={May},}

@article{Conte2016Designing,
title="Designing the NGC system of a small ASV for tracking underwater targets",
journal="Robotics and Autonomous Systems",
volume="76",
number="",
pages="46 - 57",
year="2016",
note="",
issn="0921-8890",
doi="http://dx.doi.org/10.1016/j.robot.2015.11.008",
url="http://www.sciencedirect.com/science/article/pii/S0921889015002961",
author="G. Conte and G.P. De Capua and D. Scaradozzi",
keywords="Navigation, Guidance and Control",
keywords="Autonomous Surface Vehicle (ASV)",
keywords="Marine systems",
abstract="The paper describes the development of the Navigation, Guidance and Control system of a small, prototypal Autonomous Surface Vehicle (ASV), which is part of an ASV/UUV (Unmanned Underwater Vehicle) robotic system. The main task of the ASV is to serve as supply vessel for the UUV it can carry, deploy and recover and to allow communication with a remote control station. The main problem the NGC system has to handle is that of making the ASV track the UUV and maintain the relative distance within a given bound, using delayed information about the UUV position provided by an acoustic tracking and positioning systems. The specific tracking problem is formulated in a suitable way and a strategy for its solution is proposed and implemented by means of an appropriate control architecture. Stability is discussed using Lyapunov techniques and performances are shown by means of simulations."
}

@article{Conte2016Experimental,
title="Experimental testing of a cooperative ASV-ROV multi-agent system",
journal="IFAC-PapersOnLine",
volume="49",
number="23",
pages="347 - 354",
year="2016",
note="10th IFAC Conference on Control Applications in Marine Systems CAMS 2016",
issn="2405-8963",
doi="http://dx.doi.org/10.1016/j.ifacol.2016.10.428",
url="http://www.sciencedirect.com/science/article/pii/S2405896316320158",
author="Giuseppe Conte and David Scaradozzi and Daniele Mannocchi and Paolo Raspa and Luca Panebianco and Laura Screpanti",
keywords="Autonomous Surface Vehicles",
keywords="Navigation Guidance",
keywords="Control",
keywords="ROS Multi-Agent System",
abstract="The development of versatile and cost effective robotic tools for exploration and intervention in the underwater environment is presently a topic of interest in marine engineering. A viable, efficient solution is given by robotic platform that couple autonomous surface vehicles and unmanned underwater vehicles in integrated structures with various levels of cooperation. In this paper, we describe a number of field tests on the surface component of a robotic platform consisting of an autonomous surface vehicle that can automatically deploy and recover a small remotely operated vehicle. The aim of the tests are to assess the main functionality of the navigation, guidance and control system of the vehicle in relation to basic navigation tasks, both in supervised and in fully autonomous mode. In particular, in order to assure cooperation with the deployed remotely operated vehicle, the ability to track a target is considered."
}

@INPROCEEDINGS{Cook2014Survey, 
author={D. Cook and A. Vardy and R. Lewis}, 
booktitle={2014 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={A survey of AUV and robot simulators for multi-vehicle operations}, 
year={2014}, 
pages={1-8}, 
abstract={This paper presents a survey of a selection of currently available simulation software for robots and unmanned vehicles. In particular, the simulators selected are reviewed for their suitability for the simulation of Autonomous Underwater Vehicles (AUVs), as well as their suitability for the simulation of multi-vehicle operations. The criteria for selection are based on the following features: sufficient physical fidelity to allow modelling of manipulators and end effectors; a programmatic interface, via scripting or middleware; modelling of optical and/or acoustic sensors; adequate documentation; previous use in academic research. A subset of the selected simulators are reviewed in greater detail; these are UWSim, MORSE, and Gazebo. This subset of simulators allow virtual sensors to be simulated, such as GPS, sonar, and multibeam sonar making them suitable for the design and simulation of navigation and mission planning algorithms. We conclude that simulation for underwater vehicles remains a niche problem, but with some additional effort researchers wishing to simulate such vehicles may do so, basing their work on existing software.}, 
keywords={autonomous underwater vehicles;control engineering computing;digital simulation;end effectors;manipulators;middleware;multi-robot systems;navigation;software reviews;system documentation;user interfaces;AUV simulators;GPS;Gazebo;MORSE;UWSim;acoustic sensor modelling;autonomous underwater vehicles;documentation;end effectors;manipulators;middleware;mission planning algorithm;multibeam sonar;multivehicle operations;navigation simulation;optical sensor modelling;physical fidelity;programmatic interface;robot simulation software;robot simulators;scripting;unmanned vehicles;virtual sensor simulation;Engines;Physics;Rendering (computer graphics);Robots;Sensors;Software;Vehicles}, 
doi={10.1109/AUV.2014.7054411}, 
ISSN={1522-3167}, 
month={Oct},}

@ARTICLE{Corno2016Data, 
author={M. Corno and S. Formentin and S. M. Savaresi}, 
journal={IEEE Transactions on Intelligent Transportation Systems}, 
title={Data-Driven Online Speed Optimization in Autonomous Sailboats}, 
year={2016}, 
volume={17}, 
number={3}, 
pages={762-771}, 
abstract={This paper addresses the issue of data-driven online velocity optimization of an autonomous sailboat. Autonomous sailboats represent an ideal for long range and duration reconnaissance missions. Sailboat control is a challenging control task; sailboats are characterized by a number of control variables, all of which affect the ship trajectory and state in a highly nonlinear fashion. In this paper, a path-following automatic sailboat controller is presented. The control system has two main components: a heading control, acting on the rudder, and a velocity optimizer, acting on the sails. The optimizer is based on a modified extremum seeking approach. This paper also derives a first-principle-based 4 DoF sailboat model that is experimentally validated and used to guide the design and tuning of the control system. In fact, the control system is first tuned and validated in simulation. The simulation environment enables the comparison of the proposed model against a theoretical benchmark and a state-of-the-art controller. The analysis reveals that the proposed control system achieves near-optimal performance and considerably outperforms the state-of-the-art solution. Finally, the controller is tested and validated on an instrumented scale model.}, 
keywords={boats;control system synthesis;optimal control;path planning;remotely operated vehicles;velocity control;autonomous sailboats;control system design;control system tuning;data-driven online speed optimization;data-driven online velocity optimization;degrees-of-freedom;duration reconnaissance mission;first-principle-based 4 DoF sailboat model;heading control;instrumented scale model;long range reconnaissance mission;modified extremum seeking approach;path-following automatic sailboat controller;sailboat control;velocity optimizer;Aerodynamics;Boats;Control systems;Force;Optimization;Wind speed;Sailboat;extremum seeking;online optimization},
doi={10.1109/TITS.2015.2483022}, 
ISSN={1524-9050}, 
month={March},}

@INPROCEEDINGS{Cruz2008Autonomous, 
author={N. A. Cruz and J. C. Alves}, 
booktitle={OCEANS 2008}, 
title={Autonomous sailboats: An emerging technology for ocean sampling and surveillance}, 
year={2008}, 
pages={1-6}, 
keywords={boats;remotely operated vehicles;surveillance;wind power;autonomous sailboat;ocean sampling;ocean surveillance;propulsion;robotic vessel;rudder;sails control;wind energy;Humans;Marine technology;Oceans;Power system reliability;Propulsion;Prototypes;Robots;Sampling methods;Surveillance;Wind energy}, 
doi={10.1109/OCEANS.2008.5152113}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Cruz2014Navigation, 
author={N. A. Cruz and J. C. Alves}, 
booktitle={2014 Oceans - St. John's}, 
title={Navigation performance of an autonomous sailing robot}, 
year={2014}, 
pages={1-7}, 
abstract={Autonomous sailing robots are a relatively new technology for oceanographic missions, targeting at long term presence in the ocean by using wind as the main source of propulsion. This paper addresses the navigation performance of FASt, an autonomous sailboat being developed in Porto, Portugal, since 2008. A series of results selected from various sea trials illustrate the accuracy of navigation and the maneuvering ability. The paper provides some quantitative performance in downwind, sidewind and upwind trajectories, with various environmental conditions. It also addresses the ability to stay within a watch circle of a few tens of meters, during the station keeping maneuver.}, 
keywords={marine propulsion;path planning;remotely operated vehicles;wind;FASt;Porto;Portugal;autonomous sailboat;autonomous sailing robot;downwind trajectories;environmental conditions;maneuvering ability;navigation ability;navigation performance;oceanographic missions;propulsion;sea trials;sidewind trajectories;upwind trajectories;Boats;Navigation;Oceans;Robots;Sensors;Target tracking;Wind speed}, 
doi={10.1109/OCEANS.2014.7003227}, 
ISSN={0197-7385}, 
month={Sept},}

@article{CubberTiramisu,
title={TIRAMISU-ICARUS: FP7-Projects Challenges for Robotics Systems},
author={Cubber, Yvan Baudoin--Geert de}
}

@INPROCEEDINGS{Cubber2013ICARUS, 
author={G. De Cubber and D. Doroftei and D. Serrano and K. Chintamani and R. Sabino and S. Ourevitch}, 
booktitle={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={The EU-ICARUS project: Developing assistive robotic tools for search and rescue operations}, 
year={2013}, 
pages={1-4}, 
abstract={The ICARUS EU-FP7 project deals with the development of a set of integrated components to assist search and rescue teams in dealing with the difficult and dangerous, but life-saving task of finding human survivors. The ICARUS tools consist of assistive unmanned air, ground and sea vehicles, equipped with victim detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad-hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the C4I (command, control, communications, computers, and intelligence) equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.}, 
keywords={ad hoc networks;autonomous aerial vehicles;cognitive radio;command and control systems;human-robot interaction;image sensors;marine vehicles;object detection;rescue robots;robot vision;C4I equipment;ICARUS EU-FP7 project;ICARUS tools;ad-hoc cognitive radio networking;assistive robotic tools development;assistive unmanned air vehicles;assistive unmanned ground vehicles;assistive unmanned sea vehicles;command-control-communications-computers-and-intelligence equipment;human-robot collaboration;life-saving task;search-and-rescue operations;victim detection sensors;Cameras;Command and control systems;Robot kinematics;Robot sensing systems;Vehicles}, 
doi={10.1109/SSRR.2013.6719323}, 
ISSN={2374-3247}, 
month={Oct},}

@InBook{Cubber2017Introduction,
author="Geert De Cubber and Daniela Doroftei and Konrad Rudin and Karsten Berns and Anibal Matos and Daniel Serrano and Jose Sanchez and Shashank Govindaraj and Janusz Bedkowski and  Rui Roda and Eduardo Silva and Stephane Ourevitch",
title="Introduction to the Use of Robotic Tools for Search and Rescue",
booktitle="Search and Rescue Robotics",
pages="1 - 17",
year="2017",
month="August",
publisher="IntechOpen",
doi="10.5772/intechopen.69489",
url="https://www.intechopen.com/books/search-and-rescue-robotics-from-theory-to-practice/introduction-to-the-use-of-robotic-tools-for-search-and-rescue",
abstract="Modern search and rescue workers are equipped with a powerful toolkit to address natural and man-made disasters. This introductory chapter explains how a new tool can be added to this toolkit: robots. The use of robotic assets in search and rescue operations is explained and an overview is given of the worldwide efforts to incorporate robotic tools in search and rescue operations. Furthermore, the European Union ICARUS project on this subject is introduced. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, such that more work can be done in a shorter amount  of time. The ICARUS tools consist of assistive unmanned air,  ground, and sea vehicles, equipped with victim-detection  sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.",
keywords="robotics; search and rescue; crisis management; disaster management",
}


@inbook{Cubber2017Operational,
author={Geert De Cubber and Daniela Doroftei and Haris Balta and Anibal Matos and Eduardo Silva and Daniel Serrano and Shashank Govindaraj and Rui Roda and Victor Lobo and Mário Marques and Rene Wagemans},
month={August},
year={2017},
title={Operational Validation of Search and Rescue Robots},
chapter={10},
booktitle={Search and Rescue Robotics},
publisher={IntechOpen},
DOI={10.5772/intechopen.69497},
url={https://www.intechopen.com/books/search-and-rescue-robotics-from-theory-to-practice/operational-validation-of-search-and-rescue-robots},
abstract={This chapter describes how the different ICARUS unmanned search and rescue tools  have been evaluated and validated using operational benchmarking techniques. Two large‐scale simulated disaster scenarios were organized: a simulated shipwreck and an earthquake response scenario. Next to these simulated response scenarios, where 
ICARUS tools were deployed in tight interaction with real end users, ICARUS tools also participated to a real relief, embedded in a team of end users for a flood response mission. These validation trials allow us to conclude that the ICARUS tools fulfill the user requirements and goals set up at the beginning of the project.},
keywords={rescue robotics; operational validation},
}

@inproceedings{Dalgleish2013Towards,
author = {Dalgleish, Fraser and Ouyang, Bing and K. Vuorenkoski, Anni and C. Thomas, Jesse and D. Carragher, Peter},
year = {2013},
month = {05},
pages = {17},
title = {Towards Persistent Real-Time Autonomous Surveillance and Mapping of Surface Hydrocarbons},
booktitle={2013, Offshore Technology Conference},
isbn = {9781613992418},
abstract={This paper describes results and findings from a recent two month robotic surface seep monitoring mission in the north-eastern Gulf of Mexico. The studied sites are at Mississippi Canyon salt domes and mud volcanoes which have well known natural seepage, resulting in the existence of regular but short-lived surface oil slicks. Effective real-time monitoring of such phenomenon requires new in situ technology that is capable of long term persistent surveillance and robust autonomous hydrocarbon detection. The core component of this mission was the Wave Glider autonomous marine vehicle integrated with a multi-channel optical sensor payload and weather sensing instrumentation package. A statistical process control (SPC) based automatic hydrocarbon event detection algorithm was also further developed and demonstrated during the mission.
The paper also includes results describing the Wave Glider multi-sensor signatures to known hydrocarbon concentrations in typical marine elastic and inelastic scattering background environments. A series of experiments were independently conducted in both controlled laboratory conditions and also in a controlled spill facility, with ground truth spectrofluorometry and water sampling analytics results also being obtained. The event detection algorithmic approach was tested and refined using data from these sets of experiments, as well as the data acquired during the field mission. The algorithm was executed with near real-time Wave Glider data during the second month of the mission and results demonstrate that robust real-time surface hydrocarbon detection is possible and can be used to reconfigure the Wave Glider behavior, converting from a surveillance mode to a survey or mapping mode in order to determine the boundaries and origin of the identified surface slicks. To further corroborate with the in situ results, coincident SAR imagery collects were made at certain phases of the mission to assist with the analysis of the multi-sensor signatures, slick lifetime and spatial extent as derived by the Wave Glider measurements.}
}


@misc{Dane2010Unmanned,
title={Unmanned ocean vehicle},
author={Dane, R.A. and Kilbourn, E.P.},
url={https://www.google.com/patents/US7789723},
year={2010},
month={September},
publisher={Google Patents},
note={US Patent 7,789,723},
}

@article{Davis2017Disaster,
title="Disaster factor screening using SoS conceptual modeling and an \{LVC\} simulation framework ",
journal="Reliability Engineering \& System Safety ",
volume="165",
number="",
pages="368 - 375",
year="2017",
note="",
issn="0951-8320",
doi="https://doi.org/10.1016/j.ress.2017.04.020",
url="http://www.sciencedirect.com/science/article/pii/S0951832016307657",
author="Matthew T. Davis and Michael D. Proctor and Buder Shageer",
keywords="System-of-Systems",
keywords="Designed experiment",
keywords="Live-Virtual-Constructive Simulation",
keywords="Disaster response ",
abstract="Abstract Reliability and safety of engineered systems often extends to a system composed of autonomous and heterogeneous systems. Systems integration enables formation of larger system of systems with greater, encompassing scope and goals. Nuclear power station reliability and safety involves an extensive system of systems. Failures at Chernobyl and Fukushima underscore the rare but catastrophic ripple-effect of a failed system within a system of systems conceptual model. Modeling and simulation of systems with various sffcenarios increases confidence in conceptual models, particularly scenarios that are too costly or risky to assess by other means. This research implements a system of systems conceptual model of a notional Fukishima-like disaster using a Live-Virtual-Constructive simulation framework. Focusing on a conceptual model involving an unmanned aerial system intervention, the research illustrates the framework's utility and effectiveness for assessing system reliability and safety within the conceptual model. Novel use of a screening experiment demonstrates the framework's capability to rapidly identify critical factors and their significance. A framework encompassing live, virtual, and constructive simulations provides a generalized capability to compose, simulate, and evaluate from multiple perspectives the suitability of various systems and conceptual models to accomplish a broad range of emergency response missions including the one investigated here. "
}

@INPROCEEDINGS{Demetriou2016ERON, 
author={G. A. Demetriou and A. Hadjipieri and I. E. Panayidou and A. Papasavva and S. Ioannou}, 
booktitle={2016 18th Mediterranean Electrotechnical Conference (MELECON)}, 
title={ERON: A PID controlled autonomous surface vessel}, 
year={2016}, 
pages={1-5}, 
abstract={Aquatic unmanned robotic systems have gained popularity due to their abilities to perform a wide range of applications at low cost and no risk to human lives. This research investigates the development of the navigation system of “HPftN”, an Autonomous Surface Vehicle (ASV). The PID control system composed of 3 Arduino UNO boards, a GPS, a Compass and 4 thrusters can navigate the 2,86 meter long and 0,7 meters wide vessel, at speeds of 3-4m/s with an accuracy of less than one meter. Due to its flexible architecture, available onboard payload space, and powerful thrusters, this platform can easily accommodate the integration of various sensors and scientific equipment for a wide range of applications involving water sampling, temperature and salinity measurements to border patrol and monitoring, independent of weather conditions.}, 
keywords={Global Positioning System;autonomous underwater vehicles;three-term control;ASV;Arduino UNO boards;ERON;GPS;HPftN navigation system;PID control system;PID controlled autonomous surface vessel;aquatic unmanned robotic systems;Boats;Global Positioning System;Ocean temperature;Robots;Sea surface;Sensors;Vehicles;ASV;Autonomous Surface Vessel;ERON;PID;Robotics}, 
doi={10.1109/MELCON.2016.7495463}, 
month={April},}

@article {DEste2015Avoiding,
author={D'Este, Claire and Seton, Brett and McCulloch, John and Smith, Daniel and Sharman, Chris},
title={Avoiding Marine Vehicles with Passive Acoustics},
journal={Journal of Field Robotics},
volume={32},
number={1},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.21529},
doi={10.1002/rob.21529},
pages={152--166},
year={2015},
abstract={Passive acoustics represent a low-cost approach to detecting and avoiding other marine vehicles using limited computing and power resources. We present a robust safety behavior for long-term environmental sensing of rivers and estuaries demonstrated on a smartphone-driven, diving robot. The detection method is based on energy detection from the hydrophone output. Field testing demonstrates detection and avoidance of motorized vessels of various sizes with 94.1\% accuracy and a 12.1\% false positive rate. Dives are triggered with a median approach distance of approximately 700m, and they are completed within 500m of the detected vehicle.},
}

@ARTICLE{DeVault2000Robotic,
author={J. E. DeVault},
journal={IEEE Instrumentation Measurement Magazine},
title={Robotic system for underwater inspection of bridge piers},
year={2000},
volume={3},
number={3},
pages={32-37},
abstract={The research objective is to develop an automated robotic system that will enable safe and cost-effective underwater inspection of bridge substructures. The system concept being developed is a semiautonomous robotic system that can carry a sensor platform underwater to detect scour, deterioration, or damage to support columns. It provides positional data and sensor information (video images) to the system operator; these can be verbally annotated while being recorded. The operator initiates basic commands and transmits them to the underwater apparatus. On-board microprocessor-based controllers automatically accomplish the detailed control. The primary underwater apparatus has a team of two identical mobile robots designed to travel along opposite surfaces of the pier while connected to each another by a cable and winch system. Each robot has rubber tracks or wheels with cleats and is driven by internal motors. Tensioning the cables that connect the two robots provides traction. The robots can move both vertically and horizontally. While each robot operates its own drive motors and cable winches, coordination of movement and cable tensioning occurs automatically through feedback between the robots and the control console. Multiple robots, evenly spaced around a support column, may inspect larger structures},
keywords={civil engineering;inspection;marine systems;mobile robots;telerobotics;automated robotic system;bridge piers;bridge substructures;cable and winch system;cable tensioning;command and control structure;coordination of movement;feedback;microprocessor-based controllers;mobile robots;multiple robots;safe cost-effective inspection;scour detection;semiautonomous robotic system;sensor platform;support column damage;underwater inspection;video images;Automatic control;Bridges;Inspection;Mobile robots;Orbital robotics;Robot kinematics;Robot sensing systems;Robotics and automation;Sensor systems;Underwater cables},
doi={10.1109/5289.863909},
ISSN={1094-6969},
month={Sep},}

@article{Dolan2007Harmful,
title={Harmful Algal Bloom Characterization Via the Telesupervised Adaptive Ocean Sensor Fleet},
author={Dolan, John M and Podnar, Gregg and Stancliff, Stephen and Lin, Ellie and Hosler, J and Ames, T and Moisan, J and Moisan, T and Higinbotham, J and Elfes, A},
year={2007},
journal={Robotics Commons},
publisher={CMU Research Showcase/NASA},
}

@inproceedings{Dolan2009Cooperative,
author={Dolan, John M. and Podnar, Gregg W. and Stancliff, Stephen and Low, Kian Hsiang and Elfes, Alberto and Higinbotham, John and Hosler, Jeffrey and Moisan, Tiffany and Moisan, John},
title={Cooperative aquatic sensing using the telesupervised adaptive ocean sensor fleet},
booktitle={Proc. SPIE},
volume={7473},
number={},
pages={747307-747307-12},
abstract={Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth's climate and ecology. Typical ocean sensing is done with satellites or in situ buoys and research ships which are slow to reposition. Cloud cover inhibits study of localized transient phenomena such as Harmful Algal Blooms (HAB). A fleet of extended-deployment surface autonomous vehicles will enable in situ study of characteristics of HAB, coastal pollutants, and related phenomena. We have developed a multiplatform telesupervision architecture that supports adaptive reconfiguration based on environmental sensor inputs. Our system allows the autonomous repositioning of smart sensors for HAB study by networking a fleet of NOAA OASIS (Ocean Atmosphere Sensor Integration System) surface autonomous vehicles. In situ measurements intelligently modify the search for areas of high concentration. Inference Grid and complementary information-theoretic techniques support sensor fusion and analysis. Telesupervision supports sliding autonomy from high-level mission tasking, through vehicle and data monitoring, to teleoperation when direct human interaction is appropriate. This paper reports on experimental results from multi-platform tests conducted in the Chesapeake Bay and in Pittsburgh, Pennsylvania waters using OASIS platforms, autonomous kayaks, and multiple simulated platforms to conduct cooperative sensing of chlorophyll-a and water quality.},
year={2009},
doi={10.1117/12.830483},
URL={ http://dx.doi.org/10.1117/12.830483},
eprint={}
}

@article {Dolenc2005Observations,
author={Dolenc, David and Romanowicz, Barbara and Stakes, Debra and McGill, Paul and Neuhauser, Doug},
title={Observations of infragravity waves at the Monterey ocean bottom broadband station (MOBB)},
journal={Geochemistry, Geophysics, Geosystems},
volume={6},
number={9},
issn={1525-2027},
url={http://dx.doi.org/10.1029/2005GC000988},
doi={10.1029/2005GC000988},
pages={n/a--n/a},
keywords={General or miscellaneous, General or miscellaneous, General or miscellaneous, infragravity waves, long-period seismic noise, ocean bottom seismic observations},
year={2005},
note={Q09002},
abstract={Infragravity waves can be observed at the 1000 m deep ocean bottom broadband seismic station MOBB on stormy as well as quiet days. When compared to the energy of the short-period ocean waves recorded at the local buoys, infragravity waves in the longer than 20 s period band are found to be mainly locally generated from shorter-period waves. Two types of modulation of the infragravity signal are observed. First, the entire infragravity band signal is modulated in-phase with tides, possibly as a result of the nonlinear exchange of energy between the short-period waves and tidal currents. Second, a longer-period modulation of the infragravity signal is observed and is best correlated with the energy of the 14 s period ocean waves. This correlation indicates that the mechanism of generation of double frequency microseisms and infragravity waves are likely strongly related. Previously recorded data during the Oregon ULF/VLF experiment at 600 m water depth also indicate that infragravity waves are primarily locally generated.},
}

@techreport{Doornik1994Practical,
  title={A practical test for univariate and multivariate normality},
  author={Doornik, J.A. and Hansen, H.},
  year={1994},
  institution={Nuffield College, Oxford, UK, Discussion paper},
  type={\notype},
}

@inproceedings{Doroftei2014Designing,
  author={Doroftei, Daniela and de Cubber, Geert and Matos, Anibal},
  title={Designing Search and Rescue Robots towards Realistic User Requirements},
  year={2014},
  month={11},
  volume={658},
  pages={612--617},
  booktitle={Advanced Concepts in Mechanical Engineering I},
  series={Applied Mechanics and Materials},
  publisher={Trans Tech Publications},
  doi={10.4028/www.scientific.net/AMM.658.612},
  keywords={Search and Rescue, Robot Mechanical Design, System Requirements Engineering, User Requirements Engineering},
  abstract={In the event of a large crisis (think about typhoon Haiyan or the Tohoku earthquake and tsunami in Japan), a primordial task of the rescue services is the search for human survivors on the incident site. This is a complex and dangerous task, which often leads to loss of lives among the human crisis managers themselves. The introduction of unmanned search and rescue devices can offer a valuable tool to save human lives and to speed up the search and rescue process. In this context, the EU-FP7-ICARUS project [1] concentrates on the development of unmanned search and rescue technologies for detecting, locating and rescuing humans.A main factor which explains why there is so little robotic technology applied on the terrain in real-life search and rescue operations, is that the complex nature and difficult operating conditions of search and rescue operations pose heavy constraints on the mechanical design of the unmanned platforms. In this paper, we discuss the different user requirements which have an impact of the design of the mechanical systems (air, ground and marine robots). We show how these user requirements are obtained, how they are validated, how they lead to design specifications for operational prototypes which are tested in realistic operational conditions and we show how the final mechanical design specifications are derived from these different steps. An important aspect of all these design steps which is emphasized in this paper is to always keep the end-users (in this case the search and rescue workers) in the loop in order to come to realistic requirements and mechanical design specifications, ensuring the practical deployability [2] of the developed platforms.}
}

@INPROCEEDINGS{Duarte2016Application, 
author={M. Duarte and J. Gomes and V. Costa and T. Rodrigues and F. Silva and V. Lobo and M. M. Marques and S. M. Oliveira and A. L. Christensen}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Application of swarm robotics systems to marine environmental monitoring}, 
year={2016}, 
pages={1-8}, 
abstract={Automated environmental monitoring in marine environments is currently carried out either by small-scale robotic systems, composed of one or few robots, or static sensor networks. In this paper, we propose the use of swarm robotics systems to carry out marine environmental monitoring missions. In swarm robotics systems, each individual unit is relatively simple and inexpensive. The robots rely on decentralized control and local communication, allowing the swarm to scale to hundreds of units and to cover large areas. We study the application of a swarm of aquatic robots to environmental monitoring tasks. In the first part of the study, we synthesize swarm control for a temperature monitoring mission and validate our results with a real swarm robotics system. Then, we conduct a simulation-based evaluation of the robots' performance over large areas and with large swarm sizes, and demonstrate the swarm's robustness to faults. Our results show that swarm robotics systems are suited for environmental monitoring tasks by efficiently covering a target area, allowing for redundancy in the data collection process, and tolerating individual robot faults.}, 
keywords={environmental monitoring (geophysics);multi-robot systems;ocean temperature;oceanographic techniques;aquatic robots;automated environmental monitoring;data collection process;marine environmental monitoring;robot fault;small-scale robotic system;static sensor networks;swarm robotics system;temperature monitoring mission;Data collection;Environmental monitoring;Robot sensing systems;Temperature measurement;Temperature sensors}, 
doi={10.1109/OCEANSAP.2016.7485429}, 
month={April},}

@INPROCEEDINGS{Dufek2016Visual,
author={J. Dufek and R. Murphy},
booktitle={2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={Visual pose estimation of USV from UAV to assist drowning victims recovery},
year={2016},
volume={},
number={},
pages={147-153},
abstract={This paper presents the visual localization subsystem of the ongoing EMILY project. This project aims to assist responders with establishing contact with drowning victims as quickly as possible through the use of a 1.3-meter autonomous unmanned surface vehicle (USV). Once victims are reached, the device can serve as a flotation device to support them. An unmanned aerial vehicle (UAV) provides a live video feed to responders and aids USV's navigation by visually estimating the USV's position and orientation. The movement of the UAV and the USV along with varying lighting, distance, and perspective make the task of estimating USV's position and orientation challenging. We present two implemented solutions for reliable visual localization, the first relying on color thresholding and contour detection, and the second using histograms, back-projection, and CamShift algorithm. The visual localization system was validated in four proof-of-concept field trials. Other unsuccessful methods are discussed.},
keywords={path planning;pose estimation;remotely operated vehicles;rescue robots;robot vision;CamShift algorithm;EMILY project;UAV;USV;autonomous unmanned surface vehicle;color thresholding;contour detection;drowning victims recovery assistance;unmanned aerial vehicle;visual localization system;visual pose estimation;Cameras;Radar tracking;Robots;Target tracking;Unmanned aerial vehicles;Visualization},
doi={10.1109/SSRR.2016.7784291},
ISSN={},
month={Oct},}

@INPROCEEDINGS{Dufek2017Visual,
author={J. Dufek and X. Xiao and R. Murphy},
booktitle={2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
title={Visual pose stabilization of tethered small unmanned aerial system to assist drowning victim recovery},
year={2017},
volume={},
number={},
pages={116-122},
abstract={This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual stabilization for unmanned aerial systems using a downward facing camera and homography estimation. The major disadvantage of this approach is that all the features used in the homography estimation must be in the same plane. The method proposed in this paper works for features in different planes and can be used with a forward-facing camera. This paper is the part of a bigger project on saving drowning victims using lifesaving unmanned surface vehicle visually servoed by Fotokite to reach the victims. Some of the used algorithms are motion sensitive and, therefore, it is desirable for Fotokite to keep its pose relative to the world. The method presented in this paper will enable to prevent gradual drifting of Fotokite in windy conditions typical for coastal areas or when the ground station is on a boat. The quality of pose stabilization was quantitatively analyzed in 9 trials by measuring metric displacement from the initial pose. The achieved mean metric displacement was 34 cm. The results were also compared to 3 trials with no stabilization.},
keywords={autonomous aerial vehicles;cameras;object tracking;pose estimation;rescue robots;robot vision;visual servoing;Fotokite;boat;downward facing camera;drowning victim recovery;ground station;homography estimation;lifesaving unmanned surface vehicle;mean metric displacement;monocular camera;motion sensitive algorithm;tethered small unmanned aerial system;unmanned aerial systems;visual pose stabilization;visual stabilization;Cameras;Feature extraction;Feeds;Matrix decomposition;Robots;Transmission line matrix methods;Visualization},
doi={10.1109/SSRR.2017.8088149},
ISSN={},
month={Oct},}

@INPROCEEDINGS{Dufek2018Theoretical,
author={J. Dufek and R. Murphy},
booktitle={2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={Theoretical Limitations of Visual Navigation of Lifesaving USV using Small UAS},
year={2018},
volume={},
number={},
pages={1-7},
abstract={This paper presents a theoretical analysis of the problem of visual navigation of an unmanned surface vehicle (USV) using visual feedback from a small unmanned aerial system (sUAS) in drowning victim recovery scenario. Manually teleoperated life-saving USVs have been used by responders to assist drowning victims. However, the teleoperation is difficult and requires additional manpower. In this project, the rescue is automated by using a sUAS to navigate the USV to the victims autonomously. This enables the responders to focus on the actual rescue. In this paper, the focus is given to the theory behind the problem. The problem is divided into visual position estimation, visual orientation estimation, and motion planning subproblems. For each subproblem, a theoretical analysis is provided and lower bound limits on how well the subproblem can be solved are determined. This will help to understand the theoretical limitations and to drive further research. Lastly, the previously published system is compared with the lower bound limits to identify the areas of potential improvement.},
keywords={autonomous aerial vehicles;emergency services;marine vehicles;mobile robots;path planning;position control;remotely operated vehicles;rescue robots;robot vision;telerobotics;visual orientation estimation;motion planning subproblems;theoretical analysis;lower bound limits;theoretical limitations;visual navigation;unmanned surface vehicle;visual feedback;unmanned aerial system;sUAS;victim recovery scenario;responders;victims;teleoperation;additional manpower;actual rescue;visual position estimation;Manually teleoperated life-saving USVs;Cameras;Visualization;Navigation;Robot vision systems;Aerospace electronics;Estimation error},
doi={10.1109/SSRR.2018.8468652},
ISSN={2475-8426},
month={Aug},}

@inproceedings{Dunbabin2010Experimental,
  title={Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring},
  author={Dunbabin, Matthew and Grinham, Alistair},
  booktitle={Robotics and Automation (ICRA), 2010 IEEE International Conference on},
  pages={5268--5274},
  year={2010},
  organization={IEEE}
}

@ARTICLE{Dunbabin2012Robots, 
author={M. Dunbabin and L. Marques}, 
journal={IEEE Robotics Automation Magazine}, 
title={Robotics for Environmental Monitoring: Significant Advancements and Applications}, 
year={2012}, 
volume={19}, 
number={1}, 
pages={24-39}, 
abstract={Robotic systems are increasingly being utilized as fundamental data-gathering tools by scientists, allowing new perspectives and a greater understanding of the planet and its environmental processes. Today's robots are already exploring our deep oceans, tracking harmful algal blooms and pollution spread, monitoring climate variables, and even studying remote volcanoes. This article collates and discusses the significant advancements and applications of marine, terrestrial, and airborne robotic systems developed for environmental monitoring during the last two decades. Emerging research trends for achieving large-scale environmental monitoring are also reviewed, including cooperative robotic teams, robot and wireless sensor network (WSN) interaction, adaptive sampling and model-aided path planning. These trends offer efficient and precise measurement of environmental processes at unprecedented scales that will push the frontiers of robotic and natural sciences.}, 
keywords={cooperative systems;environmental factors;mobile robots;path planning;adaptive sampling;cooperative robotic teams;environmental monitoring;environmental processes;fundamental data-gathering tools;model-aided path planning;pollution spread;remote volcanoes;robotic systems;wireless sensor network;Chemicals;Environmental factors;Oceans;Pollution measurement;Robot sensing systems;Temperature measurement}, 
doi={10.1109/MRA.2011.2181683}, 
ISSN={1070-9932}, 
month={March},}



article {Dunbabin2016Quantifying,
author={Dunbabin, Matthew and Grinham, Alistair},
title={Quantifying Spatiotemporal Greenhouse Gas Emissions Using Autonomous Surface Vehicles},
journal={Journal of Field Robotics},
volume={34},
number={1},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.21665},
doi={10.1002/rob.21665},
pages={151--169},
year={2017},
abstract={Accurately quantifying total greenhouse gas emissions (e.g., methane) from natural systems such as lakes, reservoirs, and wetlands requires the spatial and temporal measurement of both diffusive and ebullitive (bubbling) emissions. Ebullitive emissions exhibit high spatial and temporal variability and as such are difficult to measure. Traditional manual measurement techniques provide only limited localized assessment of methane flux, often introducing significant errors when extrapolated to the whole-of-system. This is further exacerbated when whole-of-region estimates are developed for inclusion in global greenhouse gas inventories. In this paper, we directly address these current sampling limitations by comparing two robot boat-based sampling systems with complementary sensing modalities to directly measure in real time the spatiotemporal release of methane to atmosphere across inland waterways. The first system consists of a single Autonomous Surface Vehicle (ASV) fitted with an Optical Methane Detector with algorithms to exploit the robot's mobility and transect repeatability for the accurate detection and quantification of methane bubbles across whole-of-system. The second system consists of multiple networked ASVs capable of persistent operation and scalable to whole-of-region monitoring. Each ASV carries a novel automated chamber-based gas sampling system to allow simultaneous real-time measurement of methane across the waterway. These ASV systems provide a foundation for persistent large-scale spatiotemporal sampling allowing scientists to develop whole-of-region greenhouse gas estimates and greatly improve global inventory budgets. An overview of the single and multi-robot sampling systems is presented, including their automated methane detection and sampling methodologies for the spatiotemporal quantification of greenhouse gas release to atmosphere. Experimental results are shown demonstrating each system's ability to autonomously navigate, detect, and quantify methane release to atmosphere across an entire inland reservoir.},
}

@article{Dyregrov1989Caring,
  title={Caring for helpers in disaster situations: Psychological debriefing},
  author={Dyregrov, Atle},
  journal={Disaster Management},
  volume={2},
  number={1},
  pages={25--30},
  year={1989}
}

@INPROCEEDINGS{Echeverria2011Modular, 
author={G. Echeverria and N. Lassabe and A. Degroote and S. Lemaignan}, 
booktitle={2011 IEEE International Conference on Robotics and Automation}, 
title={Modular open robots simulation engine: MORSE}, 
year={2011}, 
pages={46-51}, 
abstract={This paper presents MORSE, a new open-source robotics simulator. MORSE provides several features of interest to robotics projects: it relies on a component-based architecture to simulate sensors, actuators and robots; it is flexible, able to specify simulations at variable levels of abstraction according to the systems being tested; it is capable of representing a large variety of heterogeneous robots and full 3D environments (aerial, ground, maritime); and it is designed to allow simulations of multiple robots systems. MORSE uses a “Software-in-the-Loop” philosophy, i.e. it gives the possibility to evaluate the algorithms embedded in the software architecture of the robot within which they are to be integrated. Still, MORSE is independent of any robot architecture or communication framework (middleware). MORSE is built on top of Blender, using its powerful features and extending its functionality through Python scripts. Simulations are executed on Blender's Game Engine mode, which provides a realistic graphical display of the simulated environments and allows exploiting the reputed Bullet physics engine. This paper presents the conception principles of the simulator and some use-case illustrations.}, 
keywords={middleware;mobile robots;multi-robot systems;software agents;software architecture;Blender game engine mode;Bullet physics engine;Python scripts;actuators;communication framework;component-based architecture;full 3D environment;heterogeneous robots;middleware;modular open robots simulation engine;multiple robots system;open-source robotics simulator;realistic graphical display;robot architecture;software architecture;software-in-the-loop philosophy;Actuators;Middleware;Robot kinematics;Robot sensing systems;Software}, 
doi={10.1109/ICRA.2011.5980252}, 
ISSN={1050-4729}, 
month={May},}

@INPROCEEDINGS{Eckstein2015Design, 
author={S. Eckstein and T. Glotzbach and C. Ament}, 
booktitle={OCEANS 2015 - Genova}, 
title={Design of a software structure and a mission handler for cooperative marine robots}, 
year={2015}, 
pages={1-6}, 
abstract={This paper provides an overview on the software architecture used for the realization of cooperative behavior of heterogeneous marine robots. The work was performed within the European Research Project MORPH (FP7-ICT-288704) which strived for the solution to ocean mapping missions over harsh environments like vertical and overhanging cliff walls by employing a team of different unmanned marine crafts. The paper describes the software structure on the vehicles and all necessary links between the so called `Mission Handler', that is responsible for the coordinated execution of the different algorithms, and the other software components of the vehicle. This strict separation was enabled by the use of the middleware Robot Operating System (ROS), which is widely spread within the international robotic community.}, 
keywords={autonomous underwater vehicles;middleware;object-oriented programming;operating systems (computers);robot programming;software architecture;European Research Project MORPH;FP7-ICT-288704;ROS;cooperative behavior;cooperative marine robot;heterogeneous marine robot;international robotic community;middleware robot operating system;mission handler;ocean mapping mission;overhanging cliff wall;software architecture;software component;software structure;unmanned marine craft;vertical cliff wall;IEEE 802.11 Standard;Robot kinematics;Sensors;Software;Switches;Vehicles;Autonomous Underwater Vehicles;Mission Control;Mission Handling;Team-Oriented Mission Planning}, 
doi={10.1109/OCEANS-Genova.2015.7271701}, 
month={May},}

@inproceedings{Eke2017Oil,
title={Oil Spill Trajectory Simulation for the Clair Oilfield, Faroe Shetland Channel, United Kingdom Continental Shelf},
author={Eke, Chijioke David and Anifowose, Babatunde and others},
booktitle={SPE Health, Safety, Security, Environment, \& Social Responsibility Conference-North America},
year={2017},
organization={Society of Petroleum Engineers}
}

@INPROCEEDINGS{Elfes2008Telesupervised, 
author={A. Elfes and G. W. Podnar and J. M. Dolan and S. Stancliff and E. Lin and J. C. Hosler and T. J. Ames and J. Higinbotham and J. R. Moisan and T. A. Moisan and E. A. Kulczycki}, 
booktitle={2008 IEEE Aerospace Conference}, 
title={The Telesupervised Adaptive Ocean Sensor Fleet Architecture}, 
year={2008}, 
pages={1-9}, 
abstract={Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth's climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations. This paper describes a Multilevel Autonomy Robot Telesupervision Architecture (MARTA) for multi-robot science exploration, and an embodiment of the MARTA architecture in a real-world system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in-situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended- deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using the MARTA multi-level autonomy control architecture, where the operating mode of the vessels ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF system and the underlying MARTA architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.}, 
keywords={oceanographic techniques;telerobotics;Harmful Algal Blooms;autonomous control;human operator;in situ study;multilevel autonomy robot telesupervision architecture;multiple robotic assets;multirobot science exploration;ocean sensing;rhodamine dye;robotic boats;teleoperated human control;telesupervised adaptive ocean sensor fleet architecture;Atmosphere;Geoscience;Humans;Marine vehicles;Oceans;Robot kinematics;Robot sensing systems;Satellites;Sea surface;System testing}, 
doi={10.1109/AERO.2008.4526460}, 
ISSN={1095-323X}, 
month={March},}

@INPROCEEDINGS{Ellenrieder2015Development, 
author={K. D. von Ellenrieder}, 
booktitle={OCEANS 2015 - MTS/IEEE Washington}, 
title={Development of a USV-based bridge inspection system}, 
year={2015}, 
pages={1-10}, 
abstract={This survey explores: the requirements of and current techniques utilized in on-water bridge inspection; USV design and configuration considerations for USV-based bridge inspection; use of acoustic sensing techniques for imaging underwater bridge structures and channel bottom features; the control and dynamic positioning of USVs for bridge inspection; and lastly, the use of advanced robotics techniques, such as system localization and mapping for improving vehicle navigation under bridges and better mapping of bridge features.}, 
keywords={autonomous underwater vehicles;inspection;oceanographic techniques;USV-based bridge inspection;acoustic sensing technique;channel bottom features;system localization and mapping;underwater bridge structures;unmanned surface vehicles;Boats;Bridges;Cleaning;Inspection;Testing;Vehicles;Visualization;autonomous systems;bridge inspection;human-robot interaction;robotics;sonar imaging;unmanned surface vehicles}, 
doi={10.23919/OCEANS.2015.7404598}, 
month={Oct},}

@Inbook{Enqvist2017Free,
author="Enqvist, Teo and Friebe, Anna and Haug, Florian",
editor="Alves, Jos{\'e} C. and Cruz, Nuno A.",
title="Free Rotating Wingsail Arrangement for {\AA}land Sailing Robots",
bookTitle="Robotic Sailing 2016: Proceedings of the 9th International Robotic Sailing Conference",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="3--18",
abstract="This paper accounts for our ongoing work to evaluate, design and build an optimized wingsail arrangement for one of {\AA}land Sailing Robots' boats. By examining the current conventional sails of the boat and its propulsion capability, a wingsail arrangement with a similar propulsion capability has been designed and further investigated. The final design has to meet several criteria such as simplicity, reliability, and high degree of autonomous operation. A thorough analysis of the design criteria resulted in the decision to choose a symmetrical, free-rotating wingsail with an additional tail for actuating the wing and controlling its angle of attack. The chosen design is further investigated by using a CFD simulation software. Furthermore, we discuss possible solutions and recommendations regarding the future physical construction of the wingsail.",
isbn="978-3-319-45453-5",
doi="10.1007/978-3-319-45453-5_1",
url="http://dx.doi.org/10.1007/978-3-319-45453-5_1"
}

@inproceedings{Erdelj2013Design,
author={Erdelj,M. and Razafindralambo,T.},
editor={ },
year={2013},
title={Design and implementation of architecture for multi-robot cooperation in the context of WSN},
booktitle={PE-WASUN 2013 - Proceedings of the 10th ACM Symposium on Performance Evaluation of Wireless Ad Hoc, Sensor, and Ubiquitous Networks, Co-located with ACM MSWiM 2013},
pages={33-40},
language={English},
url={www.scopus.com},
abstract={The concept of autonomous mobile agents gets a lot of attention in the domain of wireless sensor networks (WSN) or wireless sensor and actuator networks (WSAN). Multiple robots that coordinate or cooperate with other sensors, robots or human operator, allow the WSN/WSAN to perform tasks that are far beyond the scope of single robot unit. In this work, we describe the robot middleware architecture that allows networked multi-robot control and data acquisition in the context of wireless sensor networks. Furthermore, we present three examples of robot network deployment and illustrate the proposed architecture usability: the robotic network deployment with the goal of covering the Point of Interest, adaptable multi-hop video transmission scenario, and the case of obtaining the energy consumption during the deployment.}
}

@Inbook{Eriksen2017Modeling,
author={Eriksen, Bj\"{o}rn-Olav Holtung and Breivik, Morten},
editor={Fossen, Thor I. and Pettersen, Kristin Y. and Nijmeijer, Henk},
title={Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments},
bookTitle={Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles},
year={2017},
publisher={Springer International Publishing},
address={Cham},
pages={407--431},
isbn={978-3-319-55372-6},
doi={10.1007/978-3-319-55372-6_19},
url={http://dx.doi.org/10.1007/978-3-319-55372-6_19},
abstract={This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is successfully applied to an 8.45m8.45m long ASV capable of speeds up to 18m/s, resulting in a high-quality control-oriented model. The identified model is used to design four different controllers for the vessel speed and yaw rate, which have been tested through full-scale experiments in the Trondheimsfjord. The controllers are compared using various performance metrics, and two controllers utilizing a model-based feedforward term are shown to achieve outstanding performance.},
}

@inproceedings{Fall2003Delay,
 author={Fall, Kevin},
 title={A Delay-tolerant Network Architecture for Challenged Internets},
 booktitle={Proceedings of the 2003 Conference on Applications, Technologies, Architectures, and Protocols for Computer Communications},
 series={SIGCOMM '03},
 year={2003},
 isbn={1-58113-735-4},
 location={Karlsruhe, Germany},
 pages={27--34},
 numpages={8},
 url={http://doi.acm.org/10.1145/863955.863960},
 doi={10.1145/863955.863960},
 acmid={863960},
 publisher={ACM},
 address={New York, NY, USA},
 abstract={The highly successful architecture and protocols of today's Internet may operate poorly in environments characterized by very long delay paths and frequent network partitions. These problems are exacerbated by end nodes with limited power or memory resources. Often deployed in mobile and extreme environments lacking continuous connectivity, many such networks have their own specialized protocols, and do not utilize IP. To achieve interoperability between them, we propose a network architecture and application interface structured around optionally-reliable asynchronous message forwarding, with limited expectations of end-to-end connectivity and node resources. The architecture operates as an overlay above the transport layers of the networks it interconnects, and provides key services such as in-network data storage and retransmission, interoperable naming, authenticated forwarding and a coarse-grained class of service.},
} 

@INPROCEEDINGS{Fahad2015Robotic, 
author={M. Fahad and N. Saul and Y. Guo and B. Bingham}, 
booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels}, 
year={2015}, 
pages={2654-2659}, 
abstract={Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front propagation. In this paper we study the robustness of the controller in a robot simulator, and evaluate it's performance in a realistic environmental model setup. A probabilistic Lagrangian environmental model is used that can capture both the time-averaged, idealized structure and the instantaneous, realistic structure of a dynamic plume. The controller is implemented on the Field Robotics Lab Vehicle Software, which uses Lightweight Communication and Marshalling library to facilitate process communication and for easy transit to field testing. Simulation results are shown with discussions and lessons learned to guide future field experiments.}, 
keywords={control engineering computing;marine pollution;marine vehicles;mobile robots;oil pollution;remotely operated vehicles;telerobotics;Field Robotics Lab Vehicle Software;Lightweight Communications and Marshalling library;autonomous mobile robots;controller robustness;dynamic plume tracking;probabilistic Lagrangian environmental model;robotic simulation;unmanned surface vessels;Computational modeling;Mathematical model;Process control;Robot kinematics;Robot sensing systems;Software}, 
doi={10.1109/ICRA.2015.7139557}, 
ISSN={1050-4729}, 
month={May},}

@INPROCEEDINGS{Fahad2017Evaluation,
author={M. Fahad and Y. Guo and B. Bingham and K. Krasnosky and L. Fitzpatrick and F. A. Sanabria},
booktitle={OCEANS 2017 - Anchorage},
title={Evaluation of ocean plume characteristics using unmanned surface vessels},
year={2017},
volume={},
number={},
pages={1-7},
abstract={We present results from a series of tracer dye experiments where ocean plume concentration is measured using unmanned surface vessels. The goal of the study is to characterize the fine-scale spatiotemporal plume structure which is used for developing and evaluating autonomous robotic sampling strategies. We present a description of the qualitative characteristics of experimentally generated marine plumes namely intermittency, sinuous structure, and the time varying near-source concentration profile. We also present a data reduction process and a set of summary statistics to describe the fine-scale plume structure as evidenced by the time series measurements. These summary statistics provide a comparison benchmark for the development of future plume simulation models that capture the fine-scale plume structure.},
keywords={autonomous underwater vehicles;data reduction;ocean composition;oceanographic techniques;time series;autonomous robotic sampling strategies;data reduction process;marine plumes;near-source concentration profile;ocean plume characteristics;ocean plume concentration;plume simulation models;plume structure;time series measurements;tracer dye experiments;unmanned surface vessels;Monitoring;Pollution measurement;Sea measurements;Sea surface;Sensors;Time series analysis;Marine plumes;environmental monitoring;pollution monitoring},
doi={},
ISSN={},
month={Sept},}

@INPROCEEDINGS{Fan2016Design, 
author={Y. Fan and J. Ma and G. Wang and T. Li}, 
booktitle={2016 Eighth International Conference on Advanced Computational Intelligence (ICACI)}, 
title={Design of a heterogeneous marsupial robotic system composed of an USV and an UAV}, 
year={2016}, 
pages={395-399}, 
abstract={This paper provides both the core ideas of a heterogeneous marsupial robotic System and the details of the practical aspects related to its hardware architecture and cooperative system structure. This heterogeneous marsupial robotic system is composed by an unmanned surface vehicle (USV) that acts as a carrier and an unmanned aerial vehicle (UAV) that acts as a passenger, and it is designed for military tasks and other tasks like environmental monitoring, wild life tracking, and search \& rescue missions. Through the combination, the cooperative marsupial robots benefit from their heterogeneity by using the superiority of each team member and overcoming their limitations. Moreover, the attitude control simulation model of the UAV is built, and the self-adaptive fuzzy parameter tuning rules for PID flight controller are given, so as to realize the online self-tuning of the controller parameters. Simulation results show that: compared with the conventional PID controller, this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.}, 
keywords={aerospace control;attitude control;autonomous aerial vehicles;control system synthesis;cooperative systems;dynamic response;fuzzy set theory;self-adjusting systems;three-term control;PID flight controller;UAV;USV;attitude control algorithm;attitude control simulation model;cooperative system structure;dynamic response performance;environmental monitoring;fuzzy self-adaptive PID;hardware architecture;heterogeneous marsupial robotic system design;military tasks;search \& rescue missions;self-adaptive fuzzy parameter tuning rules;team member superiority;unmanned aerial vehicle;unmanned surface vehicle;wild life tracking;Adaptation models;Computer architecture;Hardware;Monitoring;Navigation;Robots;Wireless communication;UAV;USV;cooperative hardware architecture;flight controller;fuzzy self-adaptive PID;marsupial robotic system}, 
doi={10.1109/ICACI.2016.7449858}, 
month={Feb},}

@INPROCEEDINGS{Fernandes2018Quantitative, 
author={O. Fernandes and R. Murphy and J. Adams and D. Merrick}, 
booktitle={2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Quantitative Data Analysis: CRASAR Small Unmanned Aerial Systems at Hurricane Harvey}, 
year={2018}, 
volume={}, 
number={}, 
pages={1-6}, 
keywords={autonomous aerial vehicles;disasters;floods;Hurricane Harvey;sUAS policy;flight duration;CRASAR small unmanned aerial systems;preprogrammed mapping flights;Hurricanes;Floods;Inspection;Bridges;Estimation;Emergency services;Robots}, 
doi={10.1109/SSRR.2018.8468647}, 
ISSN={2475-8426}, 
month={Aug},}

@INPROCEEDINGS{Ferreira2009Autonomous,
author={H. Ferreira and C. Almeida and A. Martins and J. Almeida and N. Dias and A. Dias and E. Silva},
booktitle={OCEANS 2009-EUROPE},
title={Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle},
year={2009},
volume={},
number={},
pages={1-6},
abstract={The use of unmanned marine robotic vehicles in bathymetric surveys is discussed. This paper presents recent results in autonomous bathymetric missions with the ROAZ autonomous surface vehicle. In particular, robotic surface vehicles such as ROAZ provide an efficient tool in risk assessment for shallow water environments and water land interface zones as the near surf zone in marine coast. ROAZ is an ocean capable catamaran for distinct oceanographic missions, and with the goal to fill the gap were other hydrographic surveys vehicles/systems are not compiled to operate, like very shallow water rivers and marine coastline surf zones. Therefore, the use of robotic systems for risk assessment is validated through several missions performed either in river scenario (in a very shallow water conditions) and in marine coastlines.},
keywords={bathymetry;marine systems;mobile robots;remotely operated vehicles;underwater vehicles;ROAZ autonomous surface vehicle;ROAZ robotic surface vehicle;autonomous bathymetry;catamaran;oceanographic mission;risk assessment;shallow water environment;unmanned marine robotic vehicle;water land interface zone;Land surface;Land vehicles;Marine vehicles;Mobile robots;Oceanographic techniques;Oceans;Remotely operated vehicles;Risk management;Rivers;Sea surface},
doi={10.1109/OCEANSE.2009.5278235},
ISSN={},
month={May},}

@INPROCEEDINGS{Ferreira2016Water, 
author={B. M. Ferreira and A. C. Matos and J. C. Alves}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Water-jet propelled autonomous surface vehicle UCAP: System description and control}, 
year={2016}, 
pages={1-5}, 
abstract={A new small-sized autonomous surface vehicle actuated by a water-jet has been developed at INESC TEC for search and rescue of victims at sea. This paper describes the vehicle main components and presents the control and guidance laws governing the motion and enabling it to perform line-following and target tracking missions. Results from field trials are presented, demonstrating the capabilities and the performances of the vehicle along with its control layer.}, 
keywords={jets;marine vehicles;rescue robots;target tracking;INESC TEC;control layer;guidance laws;line-following;small-sized autonomous surface vehicle;target tracking missions;unmanned capsule;victim search and rescue;water-jet propelled autonomous surface vehicle UCAP;Batteries;Navigation;Robots;Sea surface;Surges;Vehicle dynamics;Vehicles}, 
doi={10.1109/OCEANSAP.2016.7485364}, 
month={April},}

@INPROCEEDINGS{Ferreira2017Autonomous,
author={H. Ferreira and F. Silva and P. Sousa and B. Matias and A. Faria and J. Oliveira and J. M. Almeida and A. Martins and E. Silva},
booktitle={OCEANS 2017 - Anchorage},
title={Autonomous systems in remote areas of the ocean using BLUECOM+ communication network},
year={2017},
volume={},
number={},
pages={1-6},
abstract={The authors present a series of sea trails with autonomous systems using a long-range communication network. The continuous monitoring of the oceans and realtime data gathering/monitoring is a key issue in future marine challenges. To have long range communication, between land and ships at tens of kilometers', the authors used the BlueCom+ project research trials and tested their robotic systems. Bluecom+ project intends to fill the gap of long range communication with high bandwidth. It was demonstrated the usefulness of the system using autonomous systems, such as a small unmanned vehicle (ROAZ USV) for bathymetric mapping and tested an underwater acoustic positioning and communications system.},
keywords={autonomous underwater vehicles;ships;underwater acoustic communication;BLUECOM+ communication network;BlueCom+ project research trials;autonomous systems;communications system;long-range communication network;ocean;realtime data gathering/monitoring;remote areas;robotic systems;sea trails;ship;underwater acoustic positioning;Internet;Marine vehicles;Robot sensing systems;Sea surface;Wireless communication},
doi={},
ISSN={},
month={Sept},}

@INPROCEEDINGS{Ferri2011Design, 
author={G. Ferri and A. Manzi and F. Fornai and B. Mazzolai and C. Laschi and F. Ciuchi and P. Dario}, 
booktitle={2011 IEEE International Conference on Robotics and Automation}, 
title={Design, fabrication and first sea trials of a small-sized autonomous catamaran for heavy metals monitoring in coastal waters}, 
year={2011}, 
pages={2406-2411}, 
abstract={-We describe the design, realization and first sea trials of a small-sized Autonomous Surface Vehicle (ASV) for environmental monitoring. The robot is being developed in the framework of the HydroNet European project [1] aiming at realizing a new multi-robot system for monitoring the quality of coastal waters, rivers and lagoons. One main innovation of the robot is the capability to measure heavy metals concentrations directly onboard using sensors ad hoc developed by the consortium. This enables the system to provide real-time measurements of heavy metals concentrations potentially changing the current water monitoring methodology in which the samples are collected by a dedicated boat and analyzed in laboratory. The robot is designed for long range missions and for lodging the onboard water analysis system. Some severe constraints imposed by the addressed scenarios are considered in the design: reduced length and limited weight for ease of transportability and deployment; low draft and protected propellers to enable the ASV to move safely in shallow waters with likely floating obstacles such as plastic bags.}, 
keywords={boats;chemical sensors;chemical variables measurement;collision avoidance;environmental monitoring (geophysics);metals;mobile robots;multi-robot systems;oceanographic techniques;remotely operated vehicles;water quality;HydroNet European project;coastal waters;environmental monitoring;heavy metal concentration measurement;heavy metal monitoring;lagoons;mobile robots;multirobot system;obstacle avoidance;onboard water analysis system;quality monitoring;rivers;sea trials;sensors;small-sized ASV;small-sized autonomous catamaran design;small-sized autonomous catamaran fabrication;small-sized autonomous surface vehicle;transportability;Monitoring;Probes;Propellers;Robot sensing systems;Sea measurements;ASV;mobile robots;water monitoring}, 
doi={10.1109/ICRA.2011.5979996}, 
ISSN={1050-4729}, 
month={May},}

@INPROCEEDINGS{Ferri2015Boosting, 
author={G. Ferri and F. Ferreira and V. Djapic}, 
booktitle={OCEANS 2015 - Genova}, 
title={Boosting the talent of new generations of marine engineers through robotics competitions in realistic environments: The SAUC-E and euRathlon experience}, 
year={2015}, 
pages={1-6}, 
abstract={This article summarizes the experience of the NATO Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) in the organization of the Student Autonomous Underwater Vehicle Challenge-Europe (SAUC-E) and euRathlon 2014 competitions. SAUC-E (http://sauc-europe.org/) started in 2006 in the UK and has been hosted by CMRE in La Spezia, Italy, since 2010. Each year SAUC-E challenges multidisciplinary University teams to design and build Autonomous Underwater Vehicles (AUVs) capable of performing realistic missions. The AUVs must perform a series of tasks autonomously in the CMRE sea basin which represents a realistic and challenging environment characterized by limited visibility and salt water. The aim of SAUC-E is to act as a driver to bridge the gap between theory and practice often affecting universities' studies. The success of SAUC-E also contributed to the European Robotics Athlon project - euRathlon (http://www.eurathlon.eu/). In October 2014 a marine robotics competition in the framework of euRathlon was organized by CMRE at its basin and in nearby waters, featuring challenges different than SAUC-E's and inspired by the 2011 Fukushima disaster. This experience will lead to the organization in Piombino, Italy, in September 2015, of the first world competition in which autonomous flying, land, and sea robots will work together to achieve a disaster response goal.}, 
keywords={autonomous underwater vehicles;control engineering education;CMRE sea basin;Centre for Maritime Research and Experimentation;NATO Science and Technology Organization;SAUC-E;STO;Student Autonomous Underwater Vehicle Challenge-Europe;euRathlon;marine robotics competition;Companies;Navigation;Robot kinematics;Underwater vehicles;Vehicles}, 
doi={10.1109/OCEANS-Genova.2015.7271509}, 
month={May},}

@ARTICLE{Ferri2015HydroNet,
author={G. Ferri and A. Manzi and F. Fornai and F. Ciuchi and C. Laschi},
journal={IEEE Journal of Oceanic Engineering},
title={The HydroNet ASV, a Small-Sized Autonomous Catamaran for Real-Time Monitoring of Water Quality: From Design to Missions at Sea},
year={2015},
volume={40},
number={3},
pages={710-726},
abstract={In this paper, we describe the design, the development, and the sea trials of a novel small-sized autonomous surface vehicle (ASV) designed for monitoring the coastal water quality. The vehicle is characterized by the capability of measuring hydrocarbon and heavy metal concentrations directly onboard by means of custom-made miniaturized sensors. This capability, novel for an ASV, is combined with a winch-based sampling system specifically designed for small-sized vehicles. The sampling system can collect water samples up to 50 m in depth and measure the physical/water quality parameters of the water column. With these two features, the HydroNet ASV provides an autonomous, practical, real-time monitoring system, conceived to complement the current water monitoring practices in which samples are collected by a dedicated boat and analyzed in specialized laboratories at a later stage. The design process had the aim of realizing a vehicle capable of hosting the sampling system and the custom-made sensors that represent a unique payload in the world of small-sized ASVs. A twofold objective was pursued: realizing an ASV suited for monitoring missions in realistic scenarios (e.g., attention was paid to avoid water sample contamination), at the same time limiting the size for the ease of transportability and deployment. Severe constraints rose from these considerations and were addressed during the realization of the robot such as reduced length/weight (that limit the available space for the sensor payload) and low draft and protected propellers to allow the ASV to navigate in shallow waters with likely floating obstacles such as plastic bags. We report the design process aiming at a tradeoff between ease of transportability (small vehicle), available payload, and navigation performance in terms of achievable speed, endurance, and resistance to environmental disturbances (favored by larger ASV dimensions). We present sea trials of the realized vehicle validating the design choices. In particular, a long-range mission is discussed in which the robot executed a monitoring survey covering autonomously 12.5 km in front of Livorno, Italy, coast.},
keywords={oceanographic equipment;oceanographic techniques;propellers;sensors;water quality;HydroNet ASV;Livorno Italy;coastal water quality monitoring;custom-made miniaturized sensor;distance 12.5 km;environmental disturbance;floating obstacle;heavy metal concentration;hydrocarbon measurement;payload navigation performance;plastic bag;propeller;sea;small-sized autonomous catamaran;small-sized autonomous surface vehicle;transportability;water sample contamination;winch-based sampling system;Monitoring;Navigation;Real-time systems;Robots;Sea measurements;Sensors;Vehicles;Autonomous surface vehicles (ASVs);devices for water sampling at depth;environmental surveys;real-time water monitoring},
doi={10.1109/JOE.2014.2359361},
ISSN={0364-9059},
month={July},}

@INPROCEEDINGS{Ferri2017Multi,
author={G. Ferri and F. Ferreira and V. Djapic},
booktitle={OCEANS 2017 - Aberdeen},
title={Multi-domain robotics competitions: The CMRE experience from SAUC-E to the European Robotics League Emergency Robots},
year={2017},
volume={},
number={},
pages={1-7},
abstract={This paper details the experience of the Centre for Maritime Research and Experimentation (CMRE) in the organisation of several robotics competitions since 2010. In particular, the Student Autonomous Underwater Vehicle Challenge-Europe (SAUC-E) which started in 2006 in the UK and has been hosted by CMRE since 2010, the euRathlon 2014 and 2015 competitions and the European Robotics League (ERL) Emergency Robots 2017. SAUC-E started as a marine robotics competition for students. This paper explains the expansion towards multi-robot and multi-domain competitions such as euRathlon and ERL Emergency Robots. It was the success of SAUC-E, widely recognised by the community as the most realistic student competition for underwater robots, that led CMRE to participate in the euRathlon project and locally organise the first world competition, the euRathlon 2015 Grand Challenge, in which autonomous aerial, land, and marine robots worked together in an emergency scenario inspired by the 2011 Fukushima disaster. ERL Emergency Robots will be held in Piombino, at Tor del Sale site, 15-23 September 2017, and it is the natural follow-up of euRathlon. Some new twists will be presented to the teams to push for more autonomy and multi-robot cooperation. Results from previous competitions are presented and the evolution along time and different competitions is shown.},
keywords={marine engineering;mobile robots;CMRE;Centre for Maritime Research and Experimentation;ERL Emergency Robots;European Robotics League Emergency Robots;SAUC-E;Student Autonomous Underwater Vehicle Challenge-Europe;euRathlon project;marine robots;multidomain robotics competitions;underwater robots;Europe;Industries;Robot kinematics;Service robots;Underwater autonomous vehicles},
doi={10.1109/OCEANSE.2017.8084767},
ISSN={},
month={June},}

@misc{FitzpatrickTropical,
title={The Tropical cyclone ExperiMental Program to Enable unmanned surface SysTems (TEMPEST)},
author={Fitzpatrick, Pat and Kincaid, Russell and Lau, Yee and Moorhead, Robert and Skarke, Adam and Leonardi, Alan and Chadwick, Russell and Nicinska, Justyna}
}

@INPROCEEDINGS{Forooshani2015Sensor, 
author={P. M. Forooshani and M. Jenkin}, 
booktitle={2015 IEEE International Conference on Information and Automation}, 
title={Sensor coverage with a heterogeneous fleet of autonomous surface vessels}, 
year={2015}, 
pages={571-576}, 
abstract={Sensor coverage of large areas is a problem that occurs in a variety of different environments from terrestrial to aerial to aquatic. Here we consider the aquatic version of the problem. Given a known aquatic environment and collection of aquatic surface vehicles with known kinematic and dynamic constraints, how can a fleet of vehicles be deployed to provide sensor coverage of the surface of the body of water? Rather than considering this problem in general, here we consider the problem given a specific fleet consisting of one very well equipped robot capable of global localization aided by a number of smaller, less well equipped devices that rely on the main robot for localization and thus must operate in close proximity to the main robot. A boustrophedon decomposition algorithm is developed that incorporates the motion, sensing and communication constraints imposed by the autonomous fleet. The approach is demonstrated in simulation using a real aquatic environment withe portions of the approach demonstrated using a fleet of real robots operating outdoors.}, 
keywords={marine vehicles;mobile robots;robot dynamics;robot kinematics;aquatic environment;aquatic surface vehicles;autonomous fleet;autonomous surface vessels;boustrophedon decomposition algorithm;dynamic constraints;equipped robot;global localization;heterogeneous fleet;kinematic constraints;sensor coverage;Cameras;Compass;Robot kinematics;Robot vision systems;Vehicles;aquatic surface vehicles;robot collective;sensor coverage}, 
doi={10.1109/ICInfA.2015.7279352}, 
month={Aug},}

@INPROCEEDINGS{Fornai2013Design, 
author={F. Fornai and G. Ferri and B. Mazzolai and C. Laschi}, 
booktitle={2013 MTS/IEEE OCEANS - Bergen}, 
title={Design of a small sized self-powered robot for monitoring the ocean water column}, 
year={2013}, 
pages={1-6}, 
abstract={In this paper we present the design of a new typology of robot for sea water monitoring. The proposed robots, named JellyBots, are small-sized, `disposable' and low-cost devices for monitoring some water parameters on the water surface and along the water column. The robots are designed for long-term missions and it is envisioned they can be deployed in swarms. They are self-powered and the electrical energy is scavenged by using solar cells and by using a novel application of the thermo-generator (Seebeck effect). The robots move passively transported by sea currents and winds taking inspiration by the locomotion of the Physalia physalis jellyfish. To monitor the water parameters also in depth a variable buoyancy device was developed to modify the volume of a bladder using as source of energy the sun radiation and the sea water temperature. This system allows the robot to move passively and cyclically along the water column.}, 
keywords={marine engineering;path planning;robots;JellyBots robot;Physalia physalis jellyfish locomotion;Seebeck effect;bladder volume;ocean water column monitoring;sea water temperature;small sized self-powered robot;solar cells;sun radiation;thermo-generator application;variable buoyancy device;water parameters;water surface;Bladder;Monitoring;Ocean temperature;Robot sensing systems;Water resources;bio-inspired robot;marine robotics;self powered robot;water monitoring}, 
doi={10.1109/OCEANS-Bergen.2013.6608084}, 
month={June},}

@ARTICLE{Fornai2017Autonomous,
author={F. Fornai and G. Ferri and A. Manzi and F. Ciuchi and F. Bartaloni and C. Laschi},
journal={IEEE Journal of Oceanic Engineering},
title={An Autonomous Water Monitoring and Sampling System for Small-Sized ASVs},
year={2017},
volume={42},
number={1},
pages={5-12},
abstract={In recent years, sensorized autonomous vehicles (either AUVs or ASVs) have been increasingly used for in situ water measurements. However, collection of water samplings at depth by small-sized ASVs and their subsequent physical/chemical analysis onboard remains difficult due to size and weight constraints. This paper addresses this issue and describes the design and testing of an autonomous water monitoring and sampling system intended for operations onboard small-sized man-portable ASVs. The system is designed to collect water samples up to 50 m in depth and to measure physical water parameters along the water column. The system is composed of a probe lowered by a winch measuring physical water parameters and able to collect water samples at different selectable depths. Once the probe is returned onboard, a water distribution system transfers the collected water samples to sensors lodged in the ASV for the monitoring of chemical parameters, or into containers to transport the samples to laboratories on the mainland. The system combines small dimensions, self-cleaning capabilities, low weight, and limited power consumption allowing it to be easily installable and used on an autonomous small-sized ASVs. The sampling system was installed and tested in a robotic small-sized catamaran belonging to the HydroNet ASV class.},
keywords={autonomous underwater vehicles;chemical sensors;oceanographic techniques;AUV;HydroNet ASV class;autonomous water monitoring system;autonomous water sampling system;onboard small-sized man-portable ASV;physical water parameter measurement;physical-chemical analysis;power consumption;self-cleaning capability;sensorized autonomous vehicle;small-sized catamaran;water distribution system;Monitoring;Pollution measurement;Probes;Robots;Sea measurements;Sensors;Winches;Environmental testing;robots;underwater equipment;underwater technology},
doi={10.1109/JOE.2016.2552818},
ISSN={0364-9059},
month={Jan},}

@article{Fossen2000Survey,
title="A survey on Nonlinear Ship Control: from Theory to Practice",
journal="IFAC Proceedings Volumes",
volume="33",
number="21",
pages="1 - 16",
year="2000",
note="5th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2000), Aalborg, Denmark, 23-25 August 2000",
issn="1474-6670",
doi="https://doi.org/10.1016/S1474-6670(17)37044-1",
url="http://www.sciencedirect.com/science/article/pii/S1474667017370441",
author="Thor I. Fossen",
keywords="Ship control, marine systems, nonlinear control, autopilot, tracking",
abstract="This talk starts with the early history of ship autopilot design including the history and invention of the gyroscope and the celebrated “three-term-controller” which today is known as the PID-controller. Then a brief history of model based ship control systems with focus on the application of nonlinear theory to ship control is presented. The presentation describes the most recent results on nonlinear ship control in the period 1990-2000. This includes new results on nonlinear control system design for station-keeping (dynamic positioning and positioning mooring), autopilots for course-keeping and tracking control, (way-point, path and trajectory control), and underactuated control. A nonlinear separation principle for combination of a nonlinear full state feedback controller with a state observer in cascade is also presented. This is quite useful when desinging output feedback controllers since it guarantees globally stable combinations of different controllers and observers where the observer is needed for reconstruction of the unmeasured states. For linear systems a similar result is available through the separation principle and the LQG design methodlogy."
}

@book{Fossen2011Handbook,
author={Thor I. Fossen},
title={Handbook of Marine Craft Hydrodynamics and Motion Control},
isbn={978-1-1199-9149-6},
pages={600pp},
month={April},
year={2011},
publisher={Wiley},
}

@article{Fossen2012How,
title="HOW TO INCORPORATE WIND, WAVES AND OCEAN CURRENTS IN THE MARINE CRAFT EQUATIONS OF MOTION",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="126 - 131",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00022",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312162",
author="Thor I. Fossen",
keywords="Marine systems",
keywords="wind",
keywords="waves",
keywords="ocean currents",
keywords="equations of motion",
abstract="This paper demystifies how ocean currents together with wind and wave loads influence the marine craft equations of motion. In the literature there exists great confusion of the use of absolute and relative velocity terms when modeling rigid-body and hydrodynamic forces. The article is useful for engineers who want to simulate and predict the motions of marine craft exposed to wind, wave and ocean currents as well as control engineers evaluating the performance of marine craft control systems. The results are also very useful for testing and tuning of integral action time constants for compensation of ocean current and 2nd-order wave-induced drift forces."
}


@article{Foster2009Ship,
author={J. H. Foster and G. S. Carter and M. A. Merrifield},
title={Ship-based measurements of sea surface topography},
journal={Geophysical Research Letters},
volume={36},
number={11},
pages={},
year={2009},
keywords={GPS, radar gauge},
doi={10.1029/2009GL038324},
url={https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1029/2009GL038324},
eprint={https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1029/2009GL038324},
abstract={By equipping the research vessel Kilo Moana with a geodetic GPS receiver and a radar water level gauge, and using a kinematic GPS processing package, accurate 1 Hz estimates of the sea surface height were obtained. Geodetic positioning of ocean‐platforms using only the GPS system cannot account for changes in the draft of the platform. This is especially problematic for ships, where changes in the load, speed and/or ocean density can change the ship's draft by 10s of centimeters. By installing a radar gauge this noise source can be removed from the estimates of the sea surface height. We envision that this technology could routinely provide high resolution information on the geoid, or the variation of the sea surface height, including sea‐state, from an existing reference geoid.}
}

@article{Foster2012Improving,
author={James H. Foster and Benjamin A. Brooks and Dailin Wang and Glenn S. Carter and Mark A. Merrifield},
title={Improving tsunami warning using commercial ships},
journal={Geophysical Research Letters},
volume={39},
number={9},
pages={},
year={2012},
keywords={GPS, sea surface height},
doi={10.1029/2012GL051367},
url={https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1029/2012GL051367},
eprint={https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1029/2012GL051367},
abstract={Accurate and rapid detection and assessment of tsunamis is critical for effective mitigation. We show here that a modest ∼10 cm tsunami from the M8.8 27 Feb 2010 Maule, Chile earthquake was detected by kinematic Global Positions System (GPS) solutions from a ship underway in the open ocean ‐ the first time shipboard tsunami detection has been achieved. Our results illustrate how the commercial shipping fleet represents a vast infrastructure of potential open ocean GPS platforms on shipping lanes that provide extremely good spatial coverage around most tsunamigenic source regions. Given the affordability of geodetic GPS systems, and ever‐improving satellite communications, it would be possible to equip a significant portion of the shipping fleet with real‐time‐streamed GPS systems and create a cost‐effective tsunami monitoring network with denser and more distributed coverage. We project that such a system would have detected the 2004 Indian Ocean tsunami in less than an hour.}
}

@Inbook{Fraga2014Squirtle,
author="Fraga, Jorge
and Sousa, Jo{\~a}o
and Cabrita, Gon{\c{c}}alo
and Coimbra, Paulo
and Marques, Lino",
editor="Armada, Manuel A.
and Sanfeliu, Alberto
and Ferre, Manuel",
title="Squirtle: An ASV for Inland Water Environmental Monitoring",
bookTitle="ROBOT2013: First Iberian Robotics Conference: Advances in Robotics, Vol. 1",
year="2014",
publisher="Springer International Publishing",
address="Cham",
pages="33--39",
isbn="978-3-319-03413-3",
doi="10.1007/978-3-319-03413-3_3",
url="http://dx.doi.org/10.1007/978-3-319-03413-3_3"
}

@phdthesis{Franci2015Use,
  title={The use of satellite remote sensing for flood risk management},
  author={Franci, Francesca},
  year={2015},
  school={ALMADL University of Bologna Digital Library},
  issn={2038-7946},
  pages={118},
  doi={10.6092/unibo/amsdottorato/7181},
  keywords={Satellite remote sensing; Flood risk management; Geographic Information System; Geographic Information System; Change detection analysis; Object-based classification},
}

@article{Fumagalli2014Combined,
title="Combined Acoustic and Video Characterization of Coastal Environment by means of Unmanned Surface Vehicles",
journal="IFAC Proceedings Volumes",
volume="47",
number="3",
pages="4240 - 4245",
year="2014",
note="19th IFAC World Congress",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20140824-6-ZA-1003.02290",
url="http://www.sciencedirect.com/science/article/pii/S1474667016422676",
author="Elisa Fumagalli and Marco Bibuli and Massimo Caccia and Enrica Zereik and Fabrizio Del Bianco and Luca Gasperini and Giuseppe Stanghellini and Gabriele Bruzzone",
abstract="The aim of this work is the exploitation of an Unmanned Surface Vehicle (USV) for visual and acoustic characterization of the seafloor in shallow water coastal environments, through combined acquisition of echograms and video images. To this purpose, the employed vehicle is composed by two systems: i) a leading USV, equipped with an advanced mission control architecture, which performed a grid sampling over the study area; ii) a towed vehicle hosting an integrated system for acquisition of video and ultrasonic images, from the water column and the seafloor, coupled with a GPS receiver, which provided the geo-referencing of the survey. Data acquisition was carried out over different seafloor types, which included rock outcrops and sediments (mostly sand). The main key-points of employing such techniques to this peculiar field of coastal area monitoring are the possibility to perform automated missions and the capability to operate in very shallow water areas, usually not accessible to conventional boats."
}

@CONFERENCE{Furfaro2016Communications,
author={Furfaro, T.C. and Alves, J.},
title={A communications and relative navigation architecture for underwater vehicle coordination},
journal={OCEANS 2015 - MTS/IEEE Washington},
year={2016},
art_number={7401936},
note={cited By 1},
url={https://www.scopus.com/inward/record.uri?eid=2-s2.0-84963977849&partnerID=40&md5=3d0d526c99b4f06750410739192f091c},
affiliation={NATO STO Centre for Maritime Research and Experimentation, La Spezia, Italy},
abstract={This paper presents an implementation of a communications stack for underwater communications and relative localisation. The application scenario, under the auspices of the EC MORPH project, is described. The high-level architecture is described, with the relevant hardware and software implementation details. A summary of the localisation methods, based on previous works, is given, followed by a discussion of the encoding mechanism. © 2015 MTS.},
author_keywords={communications applications;  long baseline;  networking;  transport;  underwater acoustics;  underwater communications;  underwater modem;  underwater navigation},
document_type={Conference Paper},
source={Scopus},
}

@article{Galceran2018Survey,
title = "A survey on coverage path planning for robotics",
journal = "Robotics and Autonomous Systems",
volume = "61",
number = "12",
pages = "1258 - 1276",
year = "2013",
issn = "0921-8890",
doi = "https://doi.org/10.1016/j.robot.2013.09.004",
url = "http://www.sciencedirect.com/science/article/pii/S092188901300167X",
author = "Enric Galceran and Marc Carreras",
keywords = "Coverage path planning, Path planning, Motion planning",
abstract = "Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works."
}

@techreport{Galway2008Design,
  title={Design Considerations for Autonomous Launch and Recovery of Unmanned Surface Craft},
  author={Galway, Robert},
  year={2008},
  institution={DTIC Document}
}

@INPROCEEDINGS{German2012Long, 
author={C. R. German and M. V. Jakuba and J. C. Kinsey and J. Partan and S. Suman and A. Belani and D. R. Yoerger}, 
booktitle={2012 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={A long term vision for long-range ship-free deep ocean operations: Persistent presence through coordination of Autonomous Surface Vehicles and Autonomous Underwater Vehicles}, 
year={2012}, 
pages={1-7}, 
abstract={We outline a vision for persistent and/or long-range seafloor exploration and monitoring utilizing autonomous surface vessels (ASVs) and autonomous underwater vehicles (AUVs) to conduct coordinated autonomous surveys. Three types of surveys are envisioned: a) Autonomous tending of deep-diving AUVs: deployed from a research vessel, the ASV would act as a force-multiplier, watching over the AUV to provide operators and scientists with real-time data and re-tasking capabilities, while freeing the ship to conduct other over-the-side operations; b) Ridge-segment-scale (100 km) autonomous hydrothermal exploration: combined with conventional gliders or long-endurance AUVs, an ASV could tend a fleet of underwater assets equipped with low-power chemical sensors for mapping hydrothermal plumes and locating seafloor hydrothermal venting. Operators would control the system via satellite, such that a support ship would be needed only for initial deployment and final recovery 1-2 months later; and c) Basin-scale (10,000 km) autonomous surveys: a purpose-built autonomous surface vessel (mother-ship) with abilities up to and including autonomous deployment, recovery, and re-charge of subsea robots could explore or monitor the ocean and seafloor on the oceanic basin scale at a fraction of the cost of a global-class research vessel. In this paper we outline our long term conceptual vision, discuss some preliminary enabling technology developments that we have already achieved and set out a roadmap for progress anticipated over the next 2-3 years. We present an overview of the system architecture for autonomous tending along with some preliminary field work.}, 
keywords={autonomous underwater vehicles;chemical sensors;environmental monitoring (geophysics);mobile robots;seafloor phenomena;underwater equipment;ASV;autonomous deployment;autonomous recovery;autonomous surface vehicles;autonomous underwater vehicles;basin-scale autonomous surveys;coordinated autonomous surveys;deep-diving AUV;force-multiplier;gliders;global-class research vessel;hydrothermal plume mapping;long term conceptual vision;long-endurance AUV;long-range seafloor exploration;long-range seafloor monitoring;long-range ship-free deep ocean operations;low-power chemical sensors;ocean exploration;ocean monitoring;over-the-side operations;purpose-built autonomous surface vessel;real-time data;research vessel;retasking capabilities;ridge-segment-scale autonomous hydrothermal exploration;seafloor exploration;seafloor hydrothermal venting;subsea robot recharging;system architecture;underwater assets;Acoustics;Global Positioning System;Marine vehicles;Sea surface;Vehicles}, 
doi={10.1109/AUV.2012.6380753}, 
ISSN={1522-3167}, 
month={Sept},}

@incollection{Geyer1977Chapter,
title="Chapter 2 Unmanned Submersibles",
editor="Richard A. Geyer",
series="Elsevier Oceanography Series",
publisher="Elsevier",
volume="17",
pages="23 - 59",
year="1977",
booktitle="Submersibles and Their Use in Oceanography and Ocean Engineering",
issn="0422-9894",
doi="https://doi.org/10.1016/S0422-9894(08)71189-9",
url="http://www.sciencedirect.com/science/article/pii/S0422989408711899",
author="R. Frank Busby",
abstract="This chapter discusses the unmanned submersibles. The unmanned submersible is the direct result of the ocean community's increasing need to selectively sample and study in more detail the sea floor, as well as to visually inspect, build, and monitor undersea facilities. Cable-controlled underwater research vehicle I (CURV I) was primarily designed to retrieve torpedos from depths of up to 305 m. It was developed by the United States Naval Underwater Warfare Center, Pasadena, California in 1964 and fulfilled its role in February 1965 by retrieving a torpedo from a depth of 168 m. Another type of unmanned submersible is designed to crawl along the bottom and several varieties are available. The United States Navy's remote underwater manipulator (RUM) is a cable-tethered tracked model and was completed in 1958. There is another unmanned submersible that operates without a tether and offers a potential for under-ice studies and other forms of research as well. The Unmanned Arctic Research Submersible System (UARS) is a modification of the University of Washington's, applied physics laboratory's SPURV. The development of this vehicle began in 1959 and has continued to the present."
}

@INPROCEEDINGS{Girdhar2011Mare, 
author={Y. Girdhar and A. Xu and B. B. Dey and M. Meghjani and F. Shkurti and I. Rekleitis and G. Dudek}, 
booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={MARE: Marine Autonomous Robotic Explorer}, 
year={2011}, 
pages={5048-5053}, 
abstract={We present MARE, an autonomous airboat robot that is suitable for exploration-oriented tasks, such as inspection of coral reefs and shallow seabeds. The combination of this platform's particular mechanical properties and its powerful software framework enables it to function in a multitude of potential capacities, including autonomous surveillance, mapping, and search operations. In this paper we describe two different exploration strategies and their implementation using the MARE platform. First, we discuss the application of an efficient coverage algorithm, for the purpose of achieving systematic exploration of a known and bounded environment. Second, we present an exploration strategy driven by surprise, which steers the robot on a path that might lead to potentially surprising observations.}, 
keywords={Programming;Robot sensing systems;Sea surface;Trajectory;Vehicles;Visualization;autonomous surface craft;coverage;exploration;robot programming;surprise}, 
doi={10.1109/IROS.2011.6094914}, 
ISSN={2153-0858}, 
month={Sept},}

@INPROCEEDINGS{Giron-Sierra2015Fully, 
author={J. M. Giron-Sierra and A. T. Gheorghita and J. F. Jiménez}, 
booktitle={OCEANS 2015 - MTS/IEEE Washington}, 
title={Fully automatic boom towing by unmanned ships: Experimental study}, 
year={2015}, 
pages={1-10}, 
abstract={A commonly used technique for oil spill response is to use two or more ships towing a boom. Our research proposes fully automated operations based on unmanned ships and a computer-based planning system. The system will carry on a complete autonomous operation, requiring only the position of the oil-spill and to push a start button. The paper describes the steps of the research already accomplished, which involves computer modeling and experimental studies. The experiments started with scaled ships and now are based on real scale zodiacs. Boom towing is a peculiar task, which require specific control strategies.}, 
keywords={oil technology;remotely operated vehicles;ships;boom towing;complete autonomous operation;computer-based planning system;oil spill response;real scale zodiacs;scaled ships;unmanned ships;Boats;Digital communication;Planning;Robots;Software;Vehicles;autonomous ships;environmental protection;marine vehicles;oil spill recovery;robot teams;unmanned surface vehicles}, 
doi={10.23919/OCEANS.2015.7401957}, 
month={Oct},}

@article{Giron-Sierra2015Preparing,
title="Preparing the automatic spill recovery by two unmanned boats towing a boom: Development with scale experiments",
journal="Ocean Engineering",
volume="95",
pages="23 - 33",
year="2015",
issn="0029-8018",
doi="https://doi.org/10.1016/j.oceaneng.2014.11.034",
url="http://www.sciencedirect.com/science/article/pii/S0029801814004478",
author="Jose M. Giron-Sierra and Alina T. Gheorghita and Guillermo Angulo and Juan F. Jimenez",
keywords="Spill recovery, Autonomous surface vehicles, Boom towing, Marine robots",
abstract="The menace of floating spills is frequently solved using a team of ships towing a boom. This operation involves specific control and coordination aspects. Some automatic advice, on board the ships, could be helpful for the pilots. Moreover, it could be convenient to have the alternative of using unmanned boats, especially if the spill represents a danger for humans. This paper studies the control and coordination needs for automatically towing a boom, and proposes the use of unmanned boats with autonomous control. The research is supported by simulations and experiments with scaled boats towing a boom. Promising results have been obtained."
}

@INPROCEEDINGS{Giunta2015Enigmatic, 
author={L. Giunta}, 
booktitle={OCEANS 2015 - Genova}, 
title={The enigmatic juridical regime of unmanned maritime systems}, 
year={2015}, 
pages={1-9}, 
abstract={The growing use of robotics in the maritime domain is about to pose questions on legal fallouts of autonomous systems to the international community. Unmanned maritime systems (UMS) such as autonomous underwater vehicles (AUVs) and unmanned surface vehicles (USVs) are being increasingly employed for environmental and scientific studies. Applications of not weaponized robotic platforms for maritime security, littoral protection, antisubmarine warfare, and mine countermeasures are being investigated quite successfully both by civilian and military bodies. And more capabilities are expected to be developed for the archaeological surveys and Search And Rescue (SAR) operations. These growing spread and interest are due to the fact that, among the new maritime technologies, UMS are some of the most energy-efficient ones since they are usually equipped with small engines or they can even fly in the water without any propulsion but just using waves and currents as for example gliders do. Nevertheless the regulatory framework is lying far away from the technological fast advancement. Current experimental operations are forced to be always conducted under special authorisations and area clearances. But what is stopping the authorities to rule the use of these tools? The fact is that the issue of responsibility and liability for autonomous robots is difficult to be solved, even for not weaponized systems. Differently from aerial drones, whose civil use have been recently regulated in most countries, including the United States and the European Union, referring to pilot liability, unmanned vehicles are, as said, “un-manned”, without man in the loop or with men even far from remote control, being in a domain where radio connections are limited to submerging windows and control is transferred to software programming. This makes the application of personal responsibility challenging, while indeed undermining basics principles to which the law of the sea applies, f- r example, in the area of navigation safety: could UMS be defined as vessels according to international conventions or are they to be considered something different? What's the real degree of independence encompassed within the term autonomy? These thoughts lead to include into consideration also manned and remotely operated vessels, whose wire connection to human operators is clearer but which pose in any case questions on legal status. This paper is devoted to identify the legal blanks in the field and analyse the applicability to UMS of maritime legal regimes and present regulations at international level. First of all, particular attention will be paid in trying to ascertain the status of such devices in order to reach a categorization of them under a maritime law perspective. Secondly, the article will analyse the juridical implications deriving from the various maritime zones as defined by the law of the sea towards the transit, the use and the operation of UMS. Going into details, the circulation of the aforesaid instruments is going to be examined in the light of the “innocent passage” institution. Lastly, the research will be focused on the liability arising from the employment of these systems in case of collision with other vessels, cultural and natural assets, private goods, or other harbour infrastructures and, more in general, where a violation of the navigational rules against casualties could be recognized. In particular, the study will mainly involve the IMO Conventions consecrated to safety or security measures and environmental issues.}, 
keywords={autonomous underwater vehicles;environmental factors;autonomous underwater vehicles;enigmatic juridical regime;environmental issues;juridical implications;maritime legal regimes;robotics;unmanned maritime systems;unmanned surface vehicles;Art;Instruments;Law;Sea measurements;Underwater vehicles;AUV;USV;UUV;Unmanned Maritime Systems;juridical regime;liability;maritime conventions;maritime zones}, 
doi={10.1109/OCEANS-Genova.2015.7271426}, 
month={May},}

@article{Gogarty2012Unmanned,
author={Gogarty, B and Robinson, I}, 
title={Unmanned vehicles: a (rebooted) history, background and current state of the art}, journal={Journal of Law and Information Science},
volume={21},
number={2},
pages={1-34},
ISSN={0729-1485}, 
year={2012},
abstract={This introductory overview is an update to the original précis paper in JLIS vol 19(1) by Gogarty \& Hagger. It provides a contemporary summary of unmanned technology in use at the time of publication. Legal analysis and commentary from the original précis has been removed. Comments and responses by authors in this edition should be taken to refer to the original précis paper.},
}

@Article{Gomez2016UAV,
author="Gomez, Christopher
and Purdie, Heather",
title="UAV-based Photogrammetry and Geocomputing for Hazards and Disaster Risk Monitoring -- A Review",
journal="Geoenvironmental Disasters",
year="2016",
month="Nov",
day="25",
volume="3",
number="1",
pages="23",
abstract="The unraveling of the human-induced climate-change crisis has put to the forth the ability of human-beings to impact the planet as a whole, but the discourse of politics has also emphasized the ability of the human race to adapt and counterweigh the environmental change, in turn increasing the public expectation that one should be able to control nature and its affects. Such cozy and reassured society consequently puts an increasing amount of pressure on hazards assessors, emergency and disaster managers ``to get it right'', and not only to save the majority, but to save all. To reach such level of competency, emergency relief teams and disaster managers have to work always faster with an increasing need of high quality, high-resolution geospatial data. This need is being partly resolved with the usage of UAV (Unmanned Autonomous Vehicles), both on the ground and airborne.",
issn="2197-8670",
doi="10.1186/s40677-016-0060-y",
url="https://doi.org/10.1186/s40677-016-0060-y",
}

@INPROCEEDINGS{Goodfellow2015DiverNet,
author={G. M. Goodfellow and J. A. Neasham and I. Renduli\'{c} and $\eth$. Na\dj and N. Mi\v{s}kovi\'{c}},
booktitle={2015 IEEE Sensors Applications Symposium (SAS)},
title={DiverNet — A network of inertial sensors for real time diver visualization},
year={2015},
volume={},
number={},
pages={1-6},
abstract={This paper describes the DiverNet system that allows real time reconstruction of diver's posture and its visualization using a virtual 3D model. DiverNet is a network consisting of 17 inertial sensors mounted on diver's body, enabling calculation of orientation of each body part. Based on the obtained data, diver posture can be visualized. In addition to that, DiverNet allows integration of additional sensors for measuring physiological parameters such as breathing rate. This is the first time such technology is used in the underwater. Obtained data will be used to increase diver safety by monitoring the diver in real time, as well as developing tools for understanding diver behaviour and automatically recognizing possible signs of trouble. The paper focuses on technical description of the developed system, as well as the software used for data analysis and visualization.},
keywords={sensors;underwater equipment;DiverNet;inertial sensors;real time diver visualization;real time reconstruction;virtual 3D model;physiological parameters;breathing rate;underwater;Data visualization;Magnetic sensors;Clocks;Sensor systems;Belts;Accelerometers},
doi={10.1109/SAS.2015.7133640},
ISSN={},
month={April},}


@INPROCEEDINGS{Govindaraj2013ICARUS, 
author={S. Govindaraj and K. Chintamani and J. Gancet and P. Letier and B. van Lierde and Y. Nevatia and G. De Cubber and D. Serrano and M. Esbri Palomares and J. Bedkowski and C. Armbrust and J. Sanchez and A. Coelho and I. Orbe}, 
booktitle={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={The ICARUS project - Command, Control and Intelligence (C2I)}, 
year={2013}, 
pages={1-4}, 
abstract={This paper describes the features and concepts behind the Command, Control and Intelligence (C2I) system under development in the ICARUS project, which aims at improving crisis management with the use of unmanned search and rescue robotic appliances embedded and integrated into existing infrastructures. A beneficial C2I system should assist the search and rescue process by enhancing first responder situational awareness, decision making and crisis handling by designing intuitive user interfaces that convey detailed and extensive information about the crisis and its evolution. The different components of C2I, their architectural and functional aspects are described along with the robot platform used for development and field testing.}, 
keywords={command and control systems;control engineering computing;emergency management;remotely operated vehicles;rescue robots;user interfaces;C2I system;ICARUS project;architectural aspects;command control and intelligence system;crisis handling;crisis management;decision making;first responder situational awareness;functional aspects;infrastructures;robot platform;search and rescue process;unmanned search and rescue robotic appliances;user interfaces design;Exoskeletons;Robot kinematics;Robot sensing systems;Three-dimensional displays}, 
doi={10.1109/SSRR.2013.6719356}, 
ISSN={2374-3247}, 
month={Oct},}

@article{Govindhan2017Human,
title={Human Detecting Aqua Robot using PIR Sensors},
author={Govindhan, P and Kuruvilla, Reuben Babuji and Shanmugasundar, D and Thangapandi, M and Venkateswaran, G},
journal={International Journal of Engineering Science},
volume={6549-6553},
year={2017},
month={April},
abstract={In this Paper Human Detection Aqua Robot is an Unmanned Surface Vehicle (USV) that can detect the presence of human in disaster regions. It will detect the humans using PIR sensor and sends the signal from the transmitter side to the receiver side and notifies it to the user by alert message in LCD display. The Unmanned Surface Vehicle will float over the water occurs. Thus the robot contain parts of Arduino Nano (ATMEGA 328p), dc motors, PIR sensor, infrared sensor, LCD display, Radio frequency surface and change its direction by its own when the obstacle transmitter and receiver.},
}

@INPROCEEDINGS{Grenestedt2015LORCA, 
author={J. Grenestedt and J. Keller and S. Larson and J. Patterson and J. Spletzer and T. Trephan}, 
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={LORCA: A high performance USV with applications to surveillance and monitoring}, 
year={2015}, 
pages={1-6}, 
abstract={In this paper, we introduce the Lehigh Ocean Research Craft Autonomous (LORCA) - a high performance USV with applications to surveillance and monitoring tasks. Compact (1.2 m), lightweight (5 kg) and robust (one-piece carbon fiber design), LORCA is capable of speeds of 80 kph (50 mph). It was also designed to be capable of operations in ocean waves, with self-righting ability in all sea states. We first review the LORCA design and technical specifications. We then discuss our initial work in trajectory following where an EKF-based approach is employed for localization and a sample based planner for control. Using only the sensing and computational resources available on a 3DR Pixhawk, we demonstrate effective trajectory following in a riverine environment at peak speeds of 48 kph (30 mph). We conclude with discussions on the limitations of the current approach and planned future work.}, 
keywords={Kalman filters;marine vehicles;mobile robots;nonlinear filters;remotely operated vehicles;surveillance;telerobotics;trajectory control;3DR Pixhawk;EKF-based approach;LORCA;Lehigh Ocean Research Craft Autonomous;USV;localization;mass 5 kg;monitoring applications;ocean waves;riverine environment;sample based planner;size 1.2 m;surveillance applications;trajectory following;unmanned surface vehicles;velocity 80 kph;Angular velocity;Monitoring;Oceans;Robots;Sensors;Trajectory;Vehicles}, 
doi={10.1109/SSRR.2015.7443020}, 
month={Oct},}

@inproceedings{Griffith2015Robot,
  title={Robot-enabled lakeshore monitoring using visual SLAM and SIFT flow},
  author={Griffith, Shane and Dellaert, Frank and Pradalier, C{\'e}dric},
  booktitle={RSS Workshop on Multi-View Geometry in Robotics},
  year={2015},
  organization={Citeseer}
}

@Inbook{Griffith2016Towards,
author="Shane Griffith and Paul Drews and C{\'e}dric Pradalier",
editor="Hsieh, M. Ani and Khatib, Oussama and Kumar, Vijay",
title="Towards Autonomous Lakeshore Monitoring",
bookTitle="Experimental Robotics: The 14th International Symposium on Experimental Robotics",
year="2016",
publisher="Springer International Publishing",
address="Cham",
pages="545--557",
isbn="978-3-319-23778-7",
doi="10.1007/978-3-319-23778-7_36",
url="http://dx.doi.org/10.1007/978-3-319-23778-7_36",
abstract="This paper works towards autonomous lakeshore monitoring, which involves long-term operation over a large-scale, natural environment. Natural environments widely vary in appearance over time, which reduces the effectiveness of many appearance-based data association techniques. Rather than perform monitoring using appearance-based features, we are investigating whether the lakeshore geometry can provide a stable feature for this task. We have deployed an autonomous surface vessel 30 times over a duration of 8 months. This paper describes our initial analyses of this data, including our work towards a full simultaneous localization and mapping system and the shortcomings of using appearance-based features."
}


@article{Griffiths2016Cetacean,
author={Emily T. Griffiths and Jay Barlow},
title={Cetacean acoustic detections from free-floating vertical hydrophone arrays in the southern California Current},
journal={The Journal of the Acoustical Society of America},
volume={140},
number={5},
pages={EL399-EL404},
year={2016},
doi={10.1121/1.4967012},
URL={http://dx.doi.org/10.1121/1.4967012},
eprint={http://dx.doi.org/10.1121/1.4967012},
absract={Drifting acoustic recorders were deployed in the southern California Current during Fall 2014. Two hydrophones configured as a 2-m vertical array at 100 m depth recorded using a 192 kHz sample rate on a 10\% duty cycle (2 min/20 min). Beaked whales were detected in 33 of 8618 two-minute recordings. Sperm whales were detected in 185 recordings, and dolphins in 2291 recordings. Many beaked whales detected were over an abyssal plain and not associated with slope or seamount features. Results show the feasibility of using free-floating recording systems to detect a variety of cetacean species over periods of several months.
},
}

@INPROCEEDINGS{Grotli2015Autonomous,
author={E. I. Gr{\o}tli and M. Vagia and S. Fjerdingen and M. Bjerkeng and A. A. Transeth and E. Svendsen and P. Rundtop},
booktitle={OCEANS 2015 - MTS/IEEE Washington},
title={Autonomous Job Analysis a method for design of autonomous marine operations},
year={2015},
pages={1-7},
abstract={Increased use of autonomy is considered crucial for continued growth in maritime industries like oil- and gas, waterborne transport, and fisheries- and aquaculture. This article presents a method called Autonomous Job Analysis (AJA), which purpose is to guide the design of autonomous marine operations. AJA breaks down the operation, and focuses on autonomy early in the design phase. The method uses elements from Hierarchical Task Analysis (HTA), and the execution of the analysis is influenced by HAZard and OPerability (HAZOP) studies. The proposed method is illustrated through application on two different case studies: Inspection of mooring lines in a sea-based fish-farm, and imaging of plume extension caused by discharge from a waste water plant.},
keywords={hazards;inspection;oceanographic techniques;task analysis;AJA;HAZOP study;HTA;aquaculture;autonomous job analysis;autonomous marine operation;fishery;gas industry;hazard and operability study;hierarchical task analysis;maritime industry;mooring line inspection;oil-industry;plume extension;sea-based fish-farm;waste water plant discharge;waterborne transport;Companies;Hazards;Industries;Inspection;Marine vehicles;Stakeholders},
doi={10.23919/OCEANS.2015.7401888},
month={Oct},}

@Article{Guerrero-Gonzalez2016Multirobot,
author="Guerrero-Gonz{\'a}lez, Antonio
and Garc{\'i}a-C{\'o}rdova, Francisco
and Ortiz, Francisco J.
and Alonso, Diego
and Gilabert, Javier",
title="A multirobot platform based on autonomous surface and underwater vehicles with bio-inspired neurocontrollers for long-term oil spills monitoring",
journal="Autonomous Robots",
year="2016",
volume="40",
number="7",
pages="1321--1342",
abstract="This paper describes the BUSCAMOS-Oil monitoring system, which is a robotic platform consisting of an autonomous surface vessel combined with an underwater vehicle. The system has been designed for the long-term monitoring of oil spills, including the search for the spill, and transmitting information on its location, extent, direction and speed. Both vehicles are controlled by two different types of bio-inspired neural networks: a Self-Organization Direction Mapping Network for trajectory generation and a Neural Network for Avoidance Behaviour for avoiding obstacles. The systems' resilient capabilities are provided by bio-inspired algorithms implemented in a modular software architecture and controlled by redundant devices to give the necessary robustness to operate in the difficult conditions typically found in long-term oil-spill operations. The efficacy of the vehicles' adaptive navigation system and long-term mission capabilities are shown in the experimental results.",
issn="1573-7527",
doi="10.1007/s10514-016-9602-0",
url="http://dx.doi.org/10.1007/s10514-016-9602-0"
}

@INPROCEEDINGS{Gupta2015Overview, 
author={M. Gupta and A. Sakhare}, 
booktitle={2015 IEEE 9th International Conference on Intelligent Systems and Control (ISCO)}, 
title={An overview of autonomous marine robotic vehicle}, 
year={2015}, 
pages={1-3}, 
abstract={During recent years, one can notice considerable growth in the use of autonomous sailing vehicle (ASV) with applications such as port protection, mines countermeasure, reconnaissance, surveillance missions and environmental monitoring. Marine robotics could be a promising technology for long-term missions and semi-persistent presence in the oceans, since it relies on renewable solar energy. Autonomy in terms of sailing decision will be achieved by innovative perception and navigation modules. The hardware architecture includes a comprehensive set of sensors and actuators along with a global positioning system (GPS). For obstacle detection, an omni-directional camera coupled with an inertial measurement unit and sonar will be used. For navigation and control of the vehicle, a potential based reactive path-planning approach is proposed. The software architecture would be developed such that it computes feasible headings as well as sail angle in real time.}, 
keywords={boats;mobile robots;path planning;remotely operated vehicles;telerobotics;autonomous marine robotic vehicle;autonomous sailing vehicle;inertial measurement unit;obstacle detection;omnidirectional camera;potential based reactive path-planning;renewable solar energy;software architecture;sonar;Actuators;Navigation;Oceans;Robot sensing systems;Vehicles;Marine robotics;obstacle avoidance;omni directional vision;reactive path planning}, 
doi={10.1109/ISCO.2015.7282385}, 
month={Jan},}

@INPROCEEDINGS{Gutierrez2015Multi, 
author={M. A. Guti\'{e}rrez and S. Nair and R. E. Banchs and L. F. D. Enriquez and A. I. Niculescu and A. Vijayalingam}, 
booktitle={2015 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)}, 
title={Multi-robot collaborative platforms for humanitarian relief actions}, 
year={2015}, 
pages={1-6}, 
abstract={In this paper we describe the main components and technical challenges required for the implementation of a multi-robot collaboration platform towards supporting humanitarian relief actions. The platform supports collaborative work between a fleet of UAVs, mobile stations and light-weight fast-speed robots. The platform can be used on both land or marine environments allowing a wide diversity of rescue, surveillance and relief operations. The paper presents the entire robotic system of the platform along with some mobile station-base collaborative tasks, inter UAVs and fast-speed mobile platform collaboration. Finally, we present potential application scenarios where these platforms can be deployed.}, 
keywords={autonomous aerial vehicles;emergency services;multi-robot systems;rescue robots;collaborative work;fast-speed mobile platform collaboration;humanitarian relief action;interUAV collaboration;land environment;light-weight fast-speed robots;marine environment;mobile station;multirobot collaborative platform;relief operations;rescue operations;robotic system;surveillance operations;Batteries;Collaboration;Communication networks;Mobile communication;Mobile robots;Robot kinematics}, 
doi={10.1109/R10-HTC.2015.7391867}, 
month={Dec},}

@article{Habib2010Robot,
author={Maki K. Habib and Yvan Baudoin},
title={Robot-Assisted Risky Intervention, Search, Rescue and Environmental Surveillance},
journal={International Journal of Advanced Robotic Systems},
volume={7},
number={1},
pages={10},
year={2010},
doi={10.5772/7249},
URL={http://dx.doi.org/10.5772/7249},
eprint={http://dx.doi.org/10.5772/7249},
abstract={ Technology has become the solution to many long-standing problems, and while current technologies may be effective, it is far from fully addressing the hug, complex, difficult and challenging tasks associated with disaster missions and risky intervention. The challenge is in finding creative, reliable and applicable technical solutions in such highly constrained and uncertain environment. In addition, it is necessary to overcome constrains on resources by developing innovative, cost effective and practical technology. Robotics can play important intelligent and technological roles that support first response equipment in harsh and dangerous environments while replacing rescue personnel from entering unreachable or unsafe places. Robotics solutions that are well adapted to local conditions of unstructured and unknown environment can greatly improve safety and security of personnel as well as work efficiency, productivity and flexibility. Solving and fulfilling the needs of such tasks presents challenges in robotic mechanical structure and mobility, sensors and sensor fusion, autonomous and semi autonomous control, planning and navigation, and machine intelligence. This paper categorizes the source of disasters and associated missions, and highlights the needs for suitable and reliable technology and technical and functional requirements of robotic systems to fulfill task objectives. In addition, it shows that robotic technologies can be used for disasters prevention or early warning, intervention and recovery efforts during disasters with all possible kinds of relevant missions while ensuring quality of service and safety of human beings. Some of these missions may include: demining, search and rescue, surveillance, reconnaissance and risk assessment, evacuation assistance, intrusion/victim detection and assessment, etc. }
}

@article{Hallegraeff1993Review,
author={G. M. Hallegraeff},
year={1993},
title={A review of harmful algal blooms and their apparent global increase}, 
journal={Phycologia}, 
month={March},
volume={32}, 
number={2},
pages={79-99},
}

@INPROCEEDINGS{Han2013Navigation, 
author={J. Han and J. Kim}, 
booktitle={2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)}, 
title={Navigation of an unmanned surface vessel under bridges}, 
year={2013}, 
pages={206-210}, 
abstract={Obstacle detection and localization relative to surrounding objects or structures are important for safe vehicle navigation. This capability is particularly useful for unmanned surface vessels (USVs) operating near large structures that will block GPS signals. This study proposes a relative navigation approach, which allows estimating the vehicles position under bridges where GPS signals are not available by building a parameterized map of bridge pier structures in the framework of simultaneous localization and mapping (SLAM). The feasibility of the algorithm is demonstrated in outdoor experiments.}, 
keywords={Global Positioning System;Kalman filters;SLAM (robots);bridges (structures);collision avoidance;marine vehicles;mobile robots;nonlinear filters;object detection;remotely operated vehicles;robot vision;GPS signals;SLAM;USV;bridge pier structures;extended Kalman filter;obstacle detection;obstacle localization;parameterized map;safe vehicle navigation;simultaneous localization-and-mapping;unmanned surface vessel navigation;unmanned surface vessels;vehicle position estimation;Navigation;extended Kalman filter;simultaneous localization and mapping;unmanned surface vessels}, 
doi={10.1109/URAI.2013.6677343}, 
month={Oct},}

@inproceedings{Han2014Three,
abstract = {This study addresses three-dimensional (3D) reconstruction of bridge structures over water by fusing sensor measurements from inertial sensors, cameras and lidars mounted on an unmanned surface vehicle (USV). While the accurate navigation capability is strongly required for successful 3D reconstruction, global positioning system (GPS) signals which are essential for accurate navigation are severely deteriorated near the bridge structures or almost completely blocked underneath the bridge decks. In this study, a parameterized feature map is introduced by augmenting the map state with the geometric parameters of the detected bridge piers, and relative navigation is performed with respect to this map in the framework of simultaneous localization and mapping (SLAM). This parameterized SLAM approach allows for high-precision navigation and mapping with no need of GPS fixes. The feasibility of the proposed algorithm was demonstrated through field experiments.},
author = {Han, Jungwook and Park, Jeonghong and Kim, Jinwhan},
doi = {10.1109/IROS.2014.6942869},
file = {:home/darlan/Dropbox/Survey Barcos - Produto Final/Han2014Reconstruction.pdf:pdf},
isbn = {9781479969340},
issn = {21530866},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
mendeley-groups = {Survey Disaster USV},
pages = {2273--2278},
title = {{Three-dimensional reconstruction of bridge structures above the waterline with an unmanned surface vehicle}},
year = {2014}
}


@Article{Han2015Precision,
author="Han, Jungwook and Park, Jeonghong and Kim, Taeyun and Kim, Jinwhan",
title="Precision navigation and mapping under bridges with an unmanned surface vehicle",
journal="Autonomous Robots",
year="2015",
volume="38",
number="4",
pages="349--362",
abstract="Navigation relative to the surrounding physical structures and obstacles is an important capability for safe vehicle operation. This capability is particularly useful for unmanned surface vehicles (USVs) operating near large structures such as bridges, waterside buildings, towers and cranes, where global positioning system signals are restricted or unavailable due to the line-of-sight restrictions. This study proposes a high-precision navigation technique using dead-reckoning sensors and lidars, which enables building a parameterized map of artificial bridge structures and estimating the vehicle's position relative to the parameterized map simultaneously. Also, three-dimensional reconstruction of the surrounding structures is carried out by fusing camera and lidar measurements for realistic 3D visual mapping which may facilitate automated surveys and inspection of structural safety. Field experiments using a newly developed USV system in a real-world bridge environment were performed to verify and demonstrate the performance of the proposed navigation and mapping algorithms. The field test results are presented and discussed in this paper.",
issn="1573-7527",
doi="10.1007/s10514-015-9419-2",
url="http://dx.doi.org/10.1007/s10514-015-9419-2"
}

@INPROCEEDINGS{Han2015Planar, 
author={J. Han and Minju Kang and Yonghoon Cho and J. Kim}, 
booktitle={2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)}, 
title={Planar SLAM under a semi-submersible offshore platform with an unmanned surface vehicle}, 
year={2015}, 
pages={104-104}, 
abstract={This paper addresses relative navigation of unmanned surface vehicles (USVs) under marine floating structures where GPS signals are severely deteriorated or not available. An onboard 3D lidar collects point cloud of the structures and planar surfaces of their column structures are detected and used as landmark features in the framework of simultaneous localization and mapping (SLAM). The feasibility of the proposed method has been demonstrated in field experiments.}, 
keywords={Global Positioning System;SLAM (robots);mobile robots;remotely operated vehicles;robot vision;GPS signals;USV;marine floating structures;navigation;onboard 3D lidar;planar SLAM;semi-submersible offshore platform;simultaneous localization and mapping;unmanned surface vehicle;Global Positioning System;Laser radar;Simultaneous localization and mapping;Three-dimensional displays;Trajectory;Vehicles;Relative navigation;extended kalman filter;simultaneous localization and mapping;unmanned surface vehicles}, 
doi={10.1109/URAI.2015.7358974}, 
month={Oct},}

@article{Han2016GPS,
title="GPS-less Coastal Navigation using Marine Radar for USV Operation",
journal="IFAC-PapersOnLine",
volume="49",
number="23",
pages="598 - 603",
year="2016",
note="10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016",
issn="2405-8963",
doi="http://dx.doi.org/10.1016/j.ifacol.2016.10.500",
url="http://www.sciencedirect.com/science/article/pii/S2405896316320900",
author="Jungwook Han and Jeonghong Park and Jinwhan Kim and Nam-sun Son",
keywords="Coastal navigation",
keywords="unmanned surface vehicle",
keywords="marine radar",
keywords="occupancy grid map",
abstract="Global Positioning System (GPS) is an important component for marine vehicle navigation. However, GPS may not be reliable or even available in some situations, since GPS signals can be easily blocked or reflected by large structures and they are susceptible to jamming and spoofing attacks. In fact, radar is one of the standard navigation instruments, and radar measurements can be utilized for vehicle localization by coastline matching into a prior map. In this paper, a radar-based localization via automatic map matching is proposed for unmanned surface vehicle (USV) navigation in a littoral area. A pulse radar is employed to collect surrounding coastline information, and relative position of the vehicle with respect to the pre-built map is estimated by coastline matching. Field experiments using a USV with an onboard radar in a real sea environment were performed to verify and demonstrate the performance of the proposed navigation approach."
}

@INPROCEEDINGS{Han2016Three, 
author={J. Han and M. Kang and J. Wang and J. Kim}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Three-dimensional reconstruction of a semi-submersible offshore platform with an unmanned surface vehicle}, 
year={2016}, 
pages={1-6}, 
abstract={This paper addresses the three-dimensional (3D) reconstruction of a floating structure with an unmanned surface vehicle (USV). Onboard lidar and sonar sensors are employed to collect a volumetric point cloud of the structure both above and below the waterline. These measurements are obtained in the vehicle-fixed frame; thus, for successful 3D reconstruction, precision estimation of trajectory and attitude is required. GPS signals are severely deteriorated or unavailable near and under floating structures. Therefore, relative navigation with respect to the planar surfaces of their hull structures is performed in the framework of simultaneous localization and mapping (SLAM). This approach enables high-precision navigation and mapping near and under a large floating structure. A field experiment was performed in a semi-submersible offshore platform environment and the results are presented.}, 
keywords={Global Positioning System;SLAM (robots);image reconstruction;navigation;offshore installations;optical radar;remotely operated vehicles;sonar;GPS signals;SLAM;USV;floating structure;high-precision navigation;hull structures;onboard LIDAR;semi-submersible offshore platform;simultaneous localization and mapping;sonar sensors;three-dimensional reconstruction;unmanned surface vehicle;volumetric point cloud;Laser radar;Sensors;Sonar;Sonar navigation;Surface reconstruction;Three-dimensional displays;Vehicles;3D reconstruction;relative navigation;simultaneous localization and mapping;unmanned surface vehicle}, 
doi={10.1109/OCEANSAP.2016.7485400}, 
month={April},}

@mastersthesis{Handa2015Human,
title={Human-machine interaction for unmanned surface systems},
author={Handa, Saki},
month={Apr},
year={2015},
publisher={University of Illinois at Urbana-Champaign, IDEALS},
abstract={This research investigated the human-machine interaction (HMI) technologies for human-robot teams operating as unmanned surface systems (USS). An pilot role was found to be the most prevalent in the USS-related literature but additional human roles were determined to likely be necessary (e.g., Mission Specialist) though were not documented; interface needs have not yet been determined for any role. The human interfaces used by 67 Micro and Small X, Intermediate, Harbor, Fleet, and E,F,G-Class platforms were examined and it was determined that: i) the research literature does not well characterize the human roles present in unmanned surface systems, ii) domain complexity may necessitate increased automation of the robot platform for the human team, and iii) that unmanned surface vehicles likely lay on the human-machine interaction spectrum between unmanned ground vehicles and unmanned aerial vehicles. This work is expected to serve as a reference for future design and refinement of human interfaces for USSs and as a foundation for better understanding HMI in USSs.},
url={http://hdl.handle.net/2142/78749},
}

@INPROCEEDINGS{Harris2011Survey, 
author={A. Harris and J. M. Conrad}, 
booktitle={2011 Proceedings of IEEE Southeastcon}, 
title={Survey of popular robotics simulators, frameworks, and toolkits}, 
year={2011}, 
pages={243-249}, 
abstract={Robotic simulators, frameworks, and related toolkits are very important in today's research community. The need to accurately simulate movements, algorithms, and interactions with the real world is quickly becoming a major research focus as humans and robots interact in more situations and differently than ever before. This is a survey of popular robotics simulators and some of the main frameworks and toolkits that are used to help bring robotics simulations to a one-to-one relationship with real-world interaction.}, 
keywords={control engineering computing;robots;popular robotics simulators;real-world interaction;toolkits;Engines;Hardware;Physics;Robot kinematics;Robot sensing systems}, 
doi={10.1109/SECON.2011.5752942}, 
ISSN={1091-0050}, 
month={March},}

@INPROCEEDINGS{Heidarsson201Obstacle, 
author={H. K. Heidarsson and G. S. Sukhatme}, 
booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={Obstacle detection from overhead imagery using self-supervised learning for Autonomous Surface Vehicles}, 
year={2011}, 
pages={3160-3165}, 
abstract={We describe a technique for an Autonomous Surface Vehicle (ASV) to learn an obstacle map by classifying overhead imagery. Classification labels are supplied by a front-facing sonar, mounted under the water line on the ASV. We use aerial imagery from two online sources for each of two water bodies (a small lake and a harbor) and train classifiers using features generated from each image source separately, followed by combining their output. Data collected using a sonar mounted on the ASV were used to generate the labels in the experimental study. The results show that we are able to generate accurate obstacle maps well-suited for ASV navigation.}, 
keywords={collision avoidance;image classification;marine vehicles;mobile robots;robot vision;sonar imaging;SONAR;aerial imagery;autonomous surface vehicles navigation;classification labels;front-facing sonar;obstacle detection;obstacle map;overhead imagery classification;selfsupervised learning;Google;Image color analysis;Lakes;Sonar measurements;Training;Transient analysis}, 
doi={10.1109/IROS.2011.6094610}, 
ISSN={2153-0858}, 
month={Sept},}

@INPROCEEDINGS{Heidarsson2011Obstacle, 
author={H. K. Heidarsson and G. S. Sukhatme}, 
booktitle={2011 IEEE International Conference on Robotics and Automation}, 
title={Obstacle detection and avoidance for an Autonomous Surface Vehicle using a profiling sonar}, 
year={2011}, 
pages={731-736}, 
abstract={We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.}, 
keywords={collision avoidance;lakes;marine vehicles;mobile robots;sonar;telerobotics;autonomous surface vehicle;harbor environment;lake environment;mechanically scanned profiling sonar;obstacle avoidance;obstacle detection;scanning strategy;Collision avoidance;Lakes;Sensors;Sonar detection;Sonar measurements;Sonar navigation}, 
doi={10.1109/ICRA.2011.5980509}, 
ISSN={1050-4729}, 
month={May},}

@Inbook{Heidarsson2016Active,
author="Heidarsson, Hordur K. and Sukhatme, Gaurav S.", 
editor="Hsieh, M. Ani and Khatib, Oussama and Kumar, Vijay",
title="Active Online Calibration of Multiple Sensors for Autonomous Surface Vessels",
bookTitle="Experimental Robotics: The 14th International Symposium on Experimental Robotics",
year="2016",
publisher="Springer International Publishing",
address="Cham",
pages="229--241",
abstract="We present an approach to actively calibrate the exteroceptive sensors of an Autonomous Surface Vessel (ASV) autonomously. The approach consists of locating suitable calibration sites in the environment from aerial imagery, navigating to them, gathering calibration data and estimating the required parameters from data. We have conducted experiments using an ASV in a lake to validate our approach.",
isbn="978-3-319-23778-7",
doi="10.1007/978-3-319-23778-7_16",
url="http://dx.doi.org/10.1007/978-3-319-23778-7_16"
}

@article{Heins2017Design,
title="Design and validation of an unmanned surface vehicle simulation model ",
journal="Applied Mathematical Modelling ",
volume="48",
number="",
pages="749 - 774",
year="2017",
note="",
issn="0307-904X",
doi="https://doi.org/10.1016/j.apm.2017.02.028",
url="http://www.sciencedirect.com/science/article/pii/S0307904X17301245",
author="Peter H. Heins and Bryn Ll. Jones and Dominic J. Taunton",
keywords="Multiphysics",
keywords="Ship modelling",
keywords="Wave modelling",
keywords="Simulation",
keywords="Model validation ",
abstract="In this paper we present a multiphysics simulation model of Halcyon, an autonomous unmanned surface vehicle (USV). The simulation model presented in this paper has been developed to rapidly progress the design, development and validation of Halcyon’s autonomy management system, particularly in challenging sea conditions. Using simulation for this purpose enables extensive testing across the full environmental operating envelope of the vessel, hence greatly reducing the need for real-world sea-trials. The simulator is comprised of a novel and comprehensive sea-surface wave environment model, a six degree of freedom nonlinear unified seakeeping and manoeuvring boat dynamics model, an actuation dynamics model, an autopilot and an interface with an autonomy management system. Results are presented that show good agreement between real-world and simulated sea-trials data.",
}

@INPROCEEDINGS{Henriksen2016UWMORSE, 
author={E. H. Henriksen and I. Schjølberg and T. B. Gjersvik}, 
booktitle={2016 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={UW MORSE: The underwater Modular Open Robot Simulation Engine}, 
year={2016}, 
pages={261-267}, 
abstract={This paper presents an open-source simulation environment for underwater vehicles and robots. The simulation environment allows the user to simulate underwater robotic vehicles with realistic dynamic behavior in a 3-dimensional virtual environment. The environment is highly configurable, and offers a set of modules for simulating different types of vehicles in a number of underwater scenarios. The simulator can be used for control system development, path planning, risk management and testing in a safe virtual environment. The possibility for virtual testing will lower the cost and reduce time of operations. The simulation environment is an expansion of MORSE - Modular Open Robots Simulation Engine. The modular nature of MORSE allows the user to easily configure the simulations, making new environments and robots, as well as adding sensor and control interfaces. This expansion includes modules for hydrodynamic simulation, thrusters and underwater sensors. These modules enables the user to make a virtual replica of a specific underwater robot system. Such replica may be used as a Software-in-the-loop system for testing and verification of control systems and algorithms. The simulation environment allows interaction with a large set of robotic middlewares.}, 
keywords={autonomous underwater vehicles;control engineering computing;hydrodynamics;path planning;risk management;virtual reality;3D virtual environment;UW MORSE;control system development;hydrodynamic simulation;modular open robots simulation engine;open-source simulation environment;path planning;risk management;robotic middlewares;software-in-the-loop system;thrusters;underwater modular open robot simulation engine;underwater robotic vehicles;underwater scenarios;underwater sensors;virtual testing;Engines;Middleware;Physics;Robot sensing systems}, 
doi={10.1109/AUV.2016.7778681}, 
month={Nov},}

@article{Heo2017Analysis,
author={Heo, J. and You, Y. and Kwon, Y.},
year={2017},
title={Case Analysis for USV Integrated Mission Planning System},
booktitle={Journal of Computer and Communications},
volume={5}, 
pages={83-91},
doi={10.4236/jcc.2017.57009},
absract={Advanced countries around the world are spurring the development of Unmanned Surface Vehicles (USVs) that can operate autonomously at marine environment. The key enabling technology for such USVs is the mission planning system (MPS) that can autonomously navigate through the harsh waters. The MPS not only has the functions for the navigation, but also has the capabilities, such as obstacle avoidance, malfunction corrections, dealing with unexpected events, return home functions, and many other eventualities that cannot be programmed in advance. The autonomy levels are increasingly moving higher and it is foreseeable that the trend will continue in the future. The main purpose of this paper is the analysis of the MPS onboard the USVs, in terms of the categories, functions, and technological details. Also, we analyze the case study of autonomous mission planning control systems in various fields and introduce the features that constitute the critical functionalities of the mission planning systems.},
keywords={Unmanned Surface Vehicle (USV); Integrated Mission Planning System; Mission Planning System; Mission Re-Planning System; Path Planning},
}

@INPROCEEDINGS{Higinbotham2006Development,
author={J. R. Higinbotham and P. G. Hitchener and J. R. Moisan},
booktitle={OCEANS 2006},
title={Development of a New Long Duration Solar Powered Autonomous Surface Vehicle},
year={2006},
volume={},
number={},
pages={1-6},
abstract={This paper introduces recent activities associated with the development of a new long duration solar powered autonomous surface vehicle (ASV) known as the Ocean Atmosphere Sensor Integration System (OASIS). A brief discussion of ASV applications, platform research and development, and challenges is presented. Platform development objectives and the relationship to resulting systems, hull and deck design, and deployment and recovery are highlighted. The paper discusses the development approach, technology, and architecture for the onboard and off-board control systems. A brief chronology of the hardware integration and on water checkout is also provided. A synopsis of current and future collision avoidance considerations is presented},
keywords={collision avoidance;marine systems;remotely operated vehicles;solar powered vehicles;ASV;OASIS;Ocean Atmosphere Sensor Integration System;collision avoidance;deck design;hardware chronology;hull design;off-board control system;onboard control system;platform development;platform research;solar powered autonomous surface vehicle;water checkout;Atmosphere;Marine technology;Marine vehicles;Mobile robots;Oceans;Remotely operated vehicles;Research and development;Sea surface;Sensor systems;Solar powered vehicles},
doi={10.1109/OCEANS.2006.306874},
ISSN={0197-7385},
month={Sept},}

@INPROCEEDINGS{Higinbotham2008Update,
author={J. R. Higinbotham and J. R. Moisan and C. Schirtzinger and M. Linkswiler and J. Yungel and P. Orton},
booktitle={OCEANS 2008},
title={Update on the development and testing of a new long duration solar powered autonomous surface vehicle},
year={2008},
volume={},
number={},
pages={1-10},
abstract={This paper provides an update on the development and testing of a new long duration solar powered autonomous surface vehicle (ASV) for oceanographic and atmospheric scientific research missions. A fleet of three Ocean Atmosphere Sensor Integration System (OASIS) ASV platforms has been developed under a grant from the National Oceanic and Atmospheric Administration (NOAA) to provide a low-cost, reusable, re-configurable, long-duration, ocean observing capability to support ongoing research in key areas such as carbon dioxide air-sea flux and phytoplankton productivity. A brief overview of ASV applications and related research and development is provided to highlight the motivation for the development of a new ASV platform. A description of the OASIS ASV platform and key development considerations is provided. A description of the supporting hardware and software technology and resulting system architecture for the onboard control system, payload system, and ground system is also discussed. A summary of platform integration, testing, and operations, as well as future research and development activities is presented.},
keywords={atmospheric techniques;marine vehicles;mobile robots;oceanographic techniques;solar powered vehicles;National Oceanic and Atmospheric Administration;atmospheric scientific research missions;long duration solar powered autonomous surface vehicle;ocean atmosphere sensor integration system;oceanographic scientific research missions;Atmosphere;Gas detectors;Marine vehicles;Mobile robots;Oceans;Remotely operated vehicles;Research and development;Sea surface;Solar powered vehicles;Testing},
doi={10.1109/OCEANS.2008.5152048},
ISSN={0197-7385},
month={Sept},}

@ARTICLE{Hitz2012Autonomous,
author={G. Hitz and F. Pomerleau and M. E. Garneau and C. Pradalier and T. Posch and J. Pernthaler and R. Y. Siegwart},
journal={IEEE Robotics Automation Magazine},
title={Autonomous Inland Water Monitoring: Design and Application of a Surface Vessel},
year={2012},
volume={19},
number={1},
pages={62-72},
abstract={This article presents a novel autonomous surface vessel (ASV) that was designed and manufactured specifically for the monitoring of water resources, resources that are not only constantly drained but also face the growing threat of mass proliferation (bloom) of noxious cyanobacteria. On one hand, the distribution of these blooms in a given water body requires a surveillance of biological data at high spatial resolution on both vertical and horizontal axes, whereas on the other hand, the understanding of the temporal evolution of the cyanobacteria necessitates repeated sampling at the same location. Therefore, our ASV was designed to combine the ability to take measurements within a range of depths, with its custom-made winch, and accurate localization provided by the global positioning system (GPS), without the need for static installations. This article first describes the ASV conception, and then the results of extended field tests on the waypoint navigation mode are discussed. Finally, the first results of a sampling campaign for monitoring algal blooms in Lake Zurich are presented. This work constitutes advances in the deployment of mobile measurement platforms for environmental monitoring in lacustrine environments. Furthermore, it investigates the application of a single ASV to capture both spatial and temporal dynamics of harmful cyanobacterial blooms in lakes. Combining surface mobility with depth measurements within a single robot allows fast deployments in remote location, which is cost efficient for lake sampling. This reduces the need for fixed installations, which can be impossible in recreational areas. The high-resolution sampling of lakes will contribute to understand and predict the occurrence of harmful cyanobacterial blooms for a better management of water resources.},
keywords={Global Positioning System;environmental factors;mobile robots;water resources;ASV;Lake Zurich;autonomous inland water monitoring;biological data;environmental monitoring;global positioning system;harmful cyanobacterial blooms;lacustrine environments;mobile measurement platforms;novel autonomous surface vessel;single robot;water resources;waypoint navigation mode;Evolutional (biology);Global Positioning System;Lakes;Mobile robots;Spatial resolution;Surveillance;Water resources},
doi={10.1109/MRA.2011.2181771},
ISSN={1070-9932},
month={March},}

@inproceedings{Hitz2016State,
  title={State estimation for shore monitoring using an autonomous surface vessel},
  author={Hitz, Gregory and Pomerlesau, Fran{\c{c}}ois and Colas, Francis and Siegwart, Roland},
  booktitle={Experimental Robotics},
  pages={745--760},
  year={2016},
  organization={Springer}
}

@Inbook{Hoagland2006Economic,
author="Hoagland, P.
and Scatasta, S.",
title="The Economic Effects of Harmful Algal Blooms",
bookTitle="Ecology of Harmful Algae",
year="2006",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg    ",
pages="391--402",
abstract="Much work remains to develop reliable estimates of the economic effects of HABs. As this work proceeds, attention should be directed at the rationale for developing these estimates. While government officials and others might solicit economic estimates of any kind in order to justify idiosyncratic public health or scientific agendas, attention should be directed at developing estimates of true economic losses, i.e., surplus changes. Based upon our experience with the field, although the number of studies of economic losses or impacts is limited, they outnumber studies of the economic costs of societal responses to HAB events. In other words, societal responses to HABs have been debated, formulated, and implemented with an inadequate understanding of the net benefits of such responses. Further efforts on the economics of HABs should focus on identifying the array of societal responses and characterizing the cost minimizing combination of management actions.",
isbn="978-3-540-32210-8",
doi="10.1007/978-3-540-32210-8_30",
url="http://dx.doi.org/10.1007/978-3-540-32210-8_30"
}


@INPROCEEDINGS{Hourdakis2013Orca, 
author={E. Hourdakis and G. Chliveros and P. Trahanias}, 
booktitle={IEEE ISR 2013}, 
title={ORCA: A physics based, robotics simulator able to distribute processing across several peers}, 
year={2013}, 
pages={1-6}, 
abstract={The nature of the research and development workflow in robotics has reshaped drastically during the last decade. Activities are fundamentally interdisciplinary and usually wide-spread across several research institutions. To cope with these new requirements, researchers are increasingly using simulation to communicate algorithmic developments, and seamlessly integrate their work into larger projects. In the current paper we present the ORCA simulator, a versatile 3D-based physics simulator that was designed to facilitate those needs. ORCA integrates a middleware backend directly into the server-simulator environment, making the sharing of resources amongst peers a seamless task. To this end, we present ORCA's main features, its ability to load and render large environments, as well as the capacity of the simulator to share resources amongst different workstations.}, 
keywords={control engineering computing;middleware;research and development;robots;software packages;3D-based physics simulator;ORCA simulator;algorithmic developments;middleware backend;open robot control architecture;physics based robotics simulator;research and development workflow;research institutions;server-simulator environment;Computer architecture;Engines;Physics;Robot sensing systems;Servers;Robotics;animation;distributed systems;physics}, 
doi={10.1109/ISR.2013.6695664}, 
month={Oct},}

@INPROCEEDINGS{Howard2011Unmanned, 
author={V. Howard and J. Mefford and L. Arnold and B. Bingham and R. Camilli}, 
booktitle={OCEANS'11 MTS/IEEE KONA}, 
title={The Unmanned Port Security Vessel: An autonomous platform for monitoring ports and harbors}, 
year={2011}, 
pages={1-8}, 
abstract={This paper describes the development of the Unmanned Port Security Vessel (UPSV), a small autonomous surface vehicle designed to support maritime domain awareness in port and harbor environments. The UPSV is capable of rapidly producing fine resolution, shallow-water bathymetry maps using a multibeam sonar, detecting chemical threats using an on board mass spectrometer and monitoring oceanographic parameters using off-the-shelf instruments. In this paper we discuss the significance and scientific advantages of sensor fusion on a small autonomous robotic platform, as well as detailing the control methods chosen for such a vehicle. Command and control of the robotic platform is implemented using the lightweight communications and marshalling (LCM) library, a general purpose software infrastructure for sensor integration and feedback control. Based on this foundation we have built a flexible software architecture that includes mission planning, real-time navigation and control, payload management and telemetry to support a variety of maritime domain awareness missions. Using the developed software and control methods, the UPSV is capable of autonomously generating high fidelity bathymetric maps while simultaneously conducting chemical surveys with a mass spectrometer. We demonstrate the utility of the software architecture and hardware integration through results from both simulation and experiments. We present the results of a set of field trials to evaluate the performance of the UPSV in operational settings. These experiments include system identification for estimation and control, feedback control performance evaluation, demonstration of autonomous high-resolution bathymetric mapping and demonstration of in-situ chemical sensing. The performance of the UPSV's control system is characterized with the presented navigation data, and the results of the bathymetric surveys and in-situ chemical sensing are detailed. The implementation of this functionality on a small,- deployable platform is discussed in the context of similar projects on unmanned surface vehicles.}, 
keywords={bathymetry;command and control systems;marine engineering;mobile robots;path planning;remotely operated vehicles;sea ports;sensor fusion;autonomous surface vehicle;chemical sensing;harbor monitoring;lightweight communications and marshalling library;maritime domain awareness;mission planning;multibeam sonar;oceanographic parameter;port monitoring;sensor fusion;shallow-water bathymetry map;software architecture;unmanned port security vessel;unmanned surface vehicle;Chemicals;Command and control systems;Hardware;Instruments;Software;Sonar;Vehicles}, 
doi={10.23919/OCEANS.2011.6107217}, 
ISSN={0197-7385}, 
month={Sept},}

@article {Hsu2013System,
author="Hsu, Wei-Wen and Guo, Haole and Hou, May and Chen, Chung-Hao",
title="System Integration and Computer Vision Design for Autonomous Surface Vehicle",
journal="Journal of Mechatronics",
volume="1",
number="2",
month="Dec",
year="2013",
abstract="In this paper, we present the system integration and design mechanism of an Autonomous Surface Vehicle (ASV) and its practical use with our proposed computer vision schemes as a preliminary research. We incorporate the limitation of real-time vision processing to system design to effectively adapt to outdoor illumination's changes. For hardware, we design our ASV by modules so that the system is easily maneuverable. Our proposed ASV system is featured with its integration of each module and the junction parts. Besides, with multiple feedback information from different sensors, our proposed algorithms are effective and efficient enough to accomplish real time course decisions. Because different lightening conditions can perturb object detection easily, we also propose a method to tackle such difficulty in this paper.",
pages="80-87",
itemtype="ARTICLE",
issn="2326-2885",
eissn="2326-2893",
publisher ="American Scientific Publishers",
url="http://www.ingentaconnect.com/content/asp/jom/2013/00000001/00000002/art00002",
doi="doi:10.1166/jom.2013.1020",
keyword="OUTDOOR ILLUMINATION, MULTI-SENSORY INTEGRATION, MODULES DESIGN, ROBOBOAT, COURSE STRATEGY, AUTONOMOUS SURFACE VEHICLE (ASV)"
}

@article{Humphrey2009Robotic,
author={ Curtis M.   Humphrey  and  Julie A.   Adams },
title={Robotic Tasks for Chemical, Biological, Radiological, Nuclear and Explosive Incident Response},
journal={Advanced Robotics},
publisher={Taylor \& Francis},
volume={23},
number={9},
pages={1217-1232},
year={2009},
doi={10.1163/156855309X452502},
URL={http://dx.doi.org/10.1163/156855309X452502},
eprint={http://dx.doi.org/10.1163/156855309X452502},
 abstract={ Chemical, biological, radiological, nuclear and explosive (CBRNE) incident response varies dramatically based upon the hazardous material, the incident size and the response duration. Robots can facilitate response planning, maintaining situational awareness, removing responders from dangerous situations and allowing for immediate site feedback prior to human responder entry. This paper presents eight robotic tasks informed by a cognitive task analysis and an information flow analysis. These analyses were conducted in order to inform the design of a system of multiple robots and the associated human–robotic interfaces required to support the CBRNE response command hierarchy. The cognitive task analysis was conducted over 3 years, and incorporated direct CBRNE response personnel feedback and CBRNE incident exercise observations. This paper presents the identified tasks and how robots can augment the existing human-based CBRNE incident response by improving the provided information and the speed at which information can be obtained, and reduce responders' physical workload. It is clear from our analyses that poorly designed robots and task capabilities will be highly disruptive to the human-centric CBRNE response activities. }
}

@INPROCEEDINGS{Idris2016Design, 
author={M. H. B. M. Idris and M. A. A. B. C. Kamarudin and M. I. Sahalan and Z. B. Z. Abidin and M. M. Rashid}, 
booktitle={2016 International Conference on Computer and Communication Engineering (ICCCE)}, 
title={Design and Development of an Autonomous Surface Vessel for Inland Water Depth Monitoring}, 
year={2016}, 
pages={177-182}, 
abstract={This paper is about design and development of an Autonomous Surface Vessel (ASV) for inland water depth monitoring. Water depth measurement a.k.a bathymetry is important for critical areas such as river and water reservoir (dam) to estimate the volume and surface area for environment conservation and safety purpose. Conventionally, in inland water monitoring, the data obtained from the measurements are recorded in the log book and have to go through some screening process before plotting contour. This procedure is not only slow but also requires a lot of logistic equipment and labor forces. Therefore, an Autonomous Surface Vessel equipped with an echo sounder and data telemetry is proposed. It can be either remotely controlled or run automatically by autopilot navigation software. It is also equipped with GPS and compass for the navigation sensor feedback. The ASV was tested at several lakes for the performance of data collection and navigation.}, 
keywords={Global Positioning System;autonomous underwater vehicles;bathymetry;computerised monitoring;echo;logistics;oceanographic equipment;spatial variables measurement;telemetry;ASV;GPS;a.k.a bathymetry;autonomous surface vessel design;autonomous surface vessel development;autopilot navigation software;data collection;data telemetry;inland water depth monitoring;labor forces;logistic equipment;navigation sensor feedback;screening process;water depth measurement;Brushless motors;Global Positioning System;Monitoring;Sea surface;Software;Telemetry;ardupilot;autonomous surface vessel;autopilot;bathymetry;unmanned surface vessel;waypoint tracking}, 
doi={10.1109/ICCCE.2016.47}, 
month={July},}

@Article{Inazu2016Assessment,
author="Inazu, Daisuke and Waseda, Takuji and Hibiya, Toshiyuki and Ohta, Yusaku",
title="Assessment of GNSS-based height data of multiple ships for measuring and forecasting great tsunamis",
journal="Geoscience Letters",
year="2016",
volume="3",
number="1",
pages="25",
abstract="Ship height positioning by the Global Navigation Satellite System (GNSS) was investigated for measuring and forecasting great tsunamis. We first examined GNSS height-positioning data of a navigating vessel. If we use the kinematic precise point positioning (PPP) method, tsunamis greater than 10−1m will be detected by ship height positioning. Based on Automatic Identification System (AIS) data, we found that tens of cargo ships and tankers are usually identified to navigate over the Nankai Trough, southwest Japan. We assumed that a future Nankai Trough great earthquake tsunami will be observed by the kinematic PPP height positioning of an AIS-derived ship distribution, and examined the tsunami forecast capability of the offshore tsunami measurements based on the PPP-based ship height. A method to estimate the initial tsunami height distribution using offshore tsunami observations was used for forecasting. Tsunami forecast tests were carried out using simulated tsunami data by the PPP-based ship height of 92 cargo ships/tankers, and by currently operating deep-sea pressure and Global Positioning System (GPS) buoy observations at 71 stations over the Nankai Trough. The forecast capability using the PPP-based height of the 92 ships was shown to be comparable to or better than that using the operating offshore observatories at the 71 stations. We suppose that, immediately after the occurrence of a great earthquake, stations receiving successive ship information (AIS data) along certain areas of the coast would fail to acquire ship data due to strong ground shaking, especially near the epicenter. Such a situation would significantly deteriorate the tsunami-forecast capability using ship data. On the other hand, operational real-time analysis of seismic/geodetic data would be carried out for estimating a tsunamigenic fault model. Incorporating the seismic/geodetic fault model estimation into the tsunami forecast above possibly compensates for the deteriorated forecast capability.",
issn="2196-4092",
doi="10.1186/s40562-016-0059-y",
url="http://dx.doi.org/10.1186/s40562-016-0059-y"
}

@inproceedings{Insaurralde2013Intelligent,
author={Insaurralde,C. C. and Petillot,Y. R.},
editor={ },
year={2013},
title={Intelligent autonomy for collaborative intervention missions of unmanned maritime vehicles},
booktitle={OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common},
language={English},
url={www.scopus.com},
abstract={It is often desirable for a human to manage multiple robots. Autonomy is required to keep workload within tolerable ranges, and dynamically adapting the type of autonomy may be useful for responding to environment and workload changes. We identify two management styles for managing multiple robots and present results from four experiments that have relevance to dynamic autonomy within these two management styles. These experiments, which involved 80 subjects, suggest that individual and team autonomy benefit from attention management aids, adaptive autonomy, and proper information abstraction.}
}

@INPROCEEDINGS{Isler2015Finding, 
author={V. Isler and N. Noori and P. Plonski and A. Renzaglia and P. Tokekar and J. Vander Hook}, 
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Finding and tracking targets in the wild: Algorithms and field deployments}, 
year={2015}, 
pages={1-8}, 
abstract={We describe our efforts on building a robotic system for detecting and tracking radio-tagged invasive fish using teams of autonomous ground and surface vehicles. In addition to system building and field experiments, our efforts clustered around three fundamental problems: (1) Search: how to find the target as quickly as possible, (2) Active localization: how to actively choose measurement locations to accurately estimate target locations, and (3) Long-term autonomy through energy-efficiency and harvesting. We present specific problem formulations and a summary of our results so far. We conclude the paper with a discussion on our progress and next steps.}, 
keywords={mobile robots;multi-robot systems;remotely operated vehicles;robot vision;target tracking;autonomous ground vehicle;autonomous surface vehicle;energy efficiency;energy harvesting;radio-tagged invasive fish;robotic system;target finding;target tracking;Boats;Lakes;Monitoring;Robot sensing systems;Search problems}, 
doi={10.1109/SSRR.2015.7442996}, 
month={Oct},}

@article{Jintao2014Influence,
title={The influence paths of emotion on the occupational safety of rescuers involved in environmental emergencies-systematic review article},
author={Jintao, LU and Naiding, YANG and Jinfu, YE and Haoran, WU},
journal={Iranian journal of public health},
volume={43},
number={11},
pages={1478},
year={2014},
publisher={Tehran University of Medical Sciences}
}

@INPROCEEDINGS{Jones2012Slocum, 
author={C. P. Jones}, 
booktitle={2012 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={Slocum glider persistent oceanography}, 
year={2012}, 
pages={1-6}, 
abstract={Two decades have passed since Stommel's futuristic article popularized Doug Webb's underwater glider concept. Stommel's imagination was sparked by the opportunity gliders provided to broaden our understanding of the oceans and perhaps even more important to him, by the potential it had to draw peoples interest and excitement for ocean dynamics.}, 
keywords={autonomous underwater vehicles;mobile robots;oceanographic equipment;telerobotics;Slocum glider;Stommel futuristic article;Stommel imagination;ocean dynamics;opportunity gliders;persistent oceanography;underwater glider concept;Educational institutions;Ice;Marine vehicles;Oceans;Payloads;Sea measurements;Vehicles;Autonomous Underwater Gliders;Hybrid Glider;Persistent Ocean Observation}, 
doi={10.1109/AUV.2012.6380738}, 
ISSN={1522-3167}, 
month={Sept},}

@article{Joyce2009Review,
author={Karen E. Joyce and Stella E. Belliss and Sergey V. Samsonov and Stephen J. McNeill and Phil J. Glassey},
title ={A review of the status of satellite remote sensing and image processing techniques for mapping natural hazards and disasters},
journal={Progress in Physical Geography: Earth and Environment},
volume={33},
number={2},
pages={183-207},
year={2009},
doi={10.1177/0309133309339563},
abstract={ In the event of a natural disaster, remote sensing is a valuable source of spatial information and its utility has been proven on many occasions around the world. However, there are many different types of hazards experienced worldwide on an annual basis and their remote sensing solutions are equally varied. This paper addresses a number of data types and image processing techniques used to map and monitor earthquakes, faulting, volcanic activity, landslides, flooding, and wildfire, and the damages associated with each. Remote sensing is currently used operationally for some monitoring programs, though there are also difficulties associated with the rapid acquisition of data and provision of a robust product to emergency services as an end-user. The current status of remote sensing as a rapid-response data source is discussed, and some perspectives given on emerging airborne and satellite technologies. },
}

@mastersthesis{Joseph2015Long,
author={Joseph, John E. and Nott, Bradley J.},
month={Sep},
year={2015},
abstract={This study examines the integration of ocean glider Unmanned Surface Vehicles (USVs) and Unmanned Undersea Vehicles (UUVs) in support of wide-area oceanographic and acoustic sampling. These collaborative systems could enable the U.S. Navy to conduct multi-month unmanned maritime surveillance. Optimal sensor position in the water column and persistence are critical requirements to reduce surface expressions of such a network. An experiment was conducted in Monterey Bay to evaluate underwater gliders as mobile passive acoustic sensing platforms. Acoustic propagation modeling was used to plan experiment geometry, predict transmission loss (TL), and estimate acoustic communications performance with a USV. A medium frequency acoustic source was deployed at a range of 5.5 km from a receiver on board a glider conducting a 1000 m dive to demonstrate that a glider can adapt to the local environment to exploit more reliable propagation paths. Results demonstrate that gliders are effective mobile platforms to support persistent acoustic sensing. The glider received transmitted signals at levels in close agreement with TL predictions. Signals were received while the glider was in motion, and reception improved during a quiet deep loiter. Given the depths, ranges, and environmental conditions studied, research and modeling suggest sufficient acoustic communication performance to promote connectivity of the proposed network},
publisher={Monterey, California: Naval Postgraduate School},
title={Long-endurance maritime surveillance with ocean glider networks},
keywords={Acoustics;Ocean gliders;long-endurance;maritime surveillance;unmanned systems;oceanographic sampling;passive acoustics;acoustic communications},
}

@article{Kakalis2007Robotic,
title = "Robotic swarm concept for efficient oil spill confrontation",
journal = "Journal of Hazardous Materials",
volume = "154",
number = "1",
pages = "880 - 887",
year = "2008",
issn = "0304-3894",
doi = "https://doi.org/10.1016/j.jhazmat.2007.10.112",
url = "http://www.sciencedirect.com/science/article/pii/S0304389407015907",
author = "Nikolaos M.P. Kakalis and Yiannis Ventikos",
keywords = "Oil spill, Confrontation, Robotic swarm, Distributed system, Autonomy, Efficiency",
abstract = "This paper examines the behaviour of a distributed system/robotic swarm concept for the effective confrontation of oil spills. The system described consists of a number of identical robotic units of high-power autonomy that recover oil mechanically and are able to communicate with each other. A mathematical model that accounts for a multitude of oil weathering processes and for the concerted action of the autonomous units is implemented for this investigation. Computational assessment of the robotic swarm in weathering oil spills indicates the potential effectiveness of the method."
}

@article{Kartha2015Delay,
 author={Kartha, Jalaja Janardanan and Jacob, Lillykutty},
 title={Delay and Lifetime Performance of Underwater Wireless Sensor Networks with Mobile Element Based Data Collection},
 journal={Int. J. Distrib. Sen. Netw.},
 issue_date={January 2015},
 volume={2015},
 month={January},
 year={2015},
 issn={1550-1329},
 pages={28:28--28:28},
 articleno={28},
 numpages={1},
 url={https://doi.org/10.1155/2015/128757},
 doi={10.1155/2015/128757},
 acmid={2810738},
 publisher={Taylor \& Francis, Inc.},
 address={Bristol, PA, USA},
 abstract={Underwater Wireless Sensor Networks (UWSNs) may be easily partitioned due to resource constraints and sparse deployment, and such UWSNs need to be treated as Delay/Disruption Tolerant Networks (DTN). The principal objective of DTN routing is to maximize the possibility of eventual data delivery, which can be achieved only at the cost of high energy consumption and/or increased message latency. The energy efficiency and network lifetime are more important than data collection latency for certain underwater applications. We consider energy-efficient data collection using mobile elements, which is suitable for longterm sensing applications that are not time-critical. Using different analytical models, we investigate energy efficiency, network lifetime, packet delivery ratio, and message latency in a mobility-assisted data collection framework for UWSNs. The analytical models are validated with the experimental setup developed using the NS-2 based Aqua-Sim simulator. The results demonstrate that the proposed framework shows superior performance in terms of energy efficiency, network lifetime, and packet delivery ratio at the cost of increased message latency. The analytical models for delay performance are compared to see that the polling model is more effective in modelling the mobility-assisted data collection framework for UWSNs and more flexible in implementing different service policies.},
} 

@book{Kato2017Applications,
title={Applications to Marine Disaster Prevention: Spilled Oil and Gas Tracking Buoy System},
editor={Naomi Kato},
publisher={Springer Japan},
ISBN={978-4-431-55991-7},
doi={10.1007/978-4-431-55991-7},
edition={1},
pages={201},
keywords={Offshore Engineering;Marine Disaster Prevention;spilled Oil tracking;spilled gas racking;asv;usv;robotic buoy},
year={2017}
}

@Inbook{Kido2017Progress,
author="Kido, Motoyuki and Fujimoto, Hiromi and Hino, Ryota and Ohta, Yusaku and Osada, Yukihito and Iinuma, Takeshi and Azuma, Ryosuke and Wada, Ikuko and Miura, Satoshi and Suzuki, Syuichi and Tomita, Fumiaki and Imano, Misae",
title="Progress in the Project for Development of GPS/Acoustic Technique Over the Last 4 Years",
bookTitle="International Symposium on Geodesy for Earthquake and Natural Hazards (GENAH): Proceedings of the International Symposium on Geodesy for Earthquake and Natural Hazards (GENAH), Matsushima, Japan, 22-26 July, 2014",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="3--10",
isbn="978-3-319-39768-9",
doi="10.1007/1345_2015_127",
url="http://dx.doi.org/10.1007/1345_2015_127",
abstract="GPS/Acoustic (GPS/A) survey is the most promising way to detect crustal deformation in the ocean far from the coast, where a dense onshore GPS network is not available. Monitoring seafloor deformation is crucial to understand the tectonic state in regions of geophysical significance such as subduction zones. We, Tohoku University, together with Nagoya University and Japan Coast Guard have been dedicated to GPS/A survey around the Japanese Islands and developing its instruments for more than a decade. Especially in 2010, a new project for the development of the GPS/A technique commenced, and since 2012 following the Tohoku earthquake, further acceleration of the project has been taken place. Tohoku and Nagoya Universities have been working on this project for 4 years. In the project, Tohoku University worked on several topics, such as realtime/continuous monitoring of crustal deformation using a moored buoy, automatic survey using an Autonomous Surface Vehicle (ASV), which makes the survey as efficient as possible, and constructing a new GPS/acoustic survey network along the Japan Trench and their intensive survey using a chartered ship. In this paper, we summarize the achievements in each of the topics above.",
}

@CONFERENCE{Kim2011Development,
author={Kim, J. and Kim, J. and Kim, D.},
title={Development of an efficient obstacle avoidance compensation algorithm considering a network delay for a network-based autonomous mobile robot},
journal={2011 International Conference on Information Science and Applications, ICISA 2011},
year={2011},
doi={10.1109/ICISA.2011.5772431},
art_number={5772431},
abstract={In this paper, we propose an obstacle avoidance algorithm for a network-based autonomous mobile robot. The obstacle avoidance algorithm compensation based on the VFH (Vector Field Histogram) algorithm and delay-compensative methods is proposed for the network-based robot that is a unified system composed of distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the readings of the environmental sensors at a moment are compensated to the prospecting readings of the sensors considering a network delay measured and the kinematic model of a robot. The compensated readings of the sensors are used for building the polar histogram of the VFH algorithm. Secondly, a sensory fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry sensor and the delay of readings of environmental sensors. The performance enhancements of the proposed obstacle avoidance algorithm from the viewpoint of an efficient path generation and accurate goal positioning is also shown through some simulation experiments. © 2011 IEEE.},
author_keywords={Kalman filter;  Mobile robot VFH;  Network delay;  Sensory fusion},
document_type={Conference Paper},
source={Scopus},
}

@Article{Kim2012Toward,
author="Kim, Young-Ho
and Lee, Sang-Wook
and Yang, Hyun S.
and Shell, Dylan A.",
title="Toward autonomous robotic containment booms: visual servoing for robust inter-vehicle docking of surface vehicles",
journal="Intelligent Service Robotics",
year="2012",
volume="5",
number="1",
pages="1--18",
abstract="Inter-vehicle docking is the problem of coordinating multiple robots to actively form and maintain physical contact. It is an important capability for autonomous surface vehicles (ASVs) and is an essential part of a wide class of missions. This article considers one such mission: the emergency response and environmental protection problem of containing a floating pollutant. We propose a solution in which multiple robots autonomously navigate so as to surround the surface matter. Before doing so, the robots dock with one another to secure specialized attachments designed to ensnare the contaminant. We describe the prototypical physical robot system developed to perform this task, and we detail the system architecture, sensing and computational hardware, control system, and visual processing pipeline. While employing multiple ASVs maximizes spatial reconfigurability, it depends on the inter-robot docking capabilities being particularly reliable. But achieving robust docking is a significant technical challenge because the water continually induces external disturbances on the control system. These disturbances are non-stationary and almost impossible to predict for unknown environments. Our system relies primarily on visual servoing within a control framework in which a variety of sensors are fused. Accurate disturbance measurements are obtained through traditional sensor modeling and filtering techniques. As the environment is a priori unknown, varies from trial to trial, and has proven difficult to model, we apply a model-free reinforcement learning algorithm, SARSA($\lambda$), along with specialized initial conditions which ensure stable operation, and an exploration guidance approach that increases the speed of convergence. We adopt a two-loop control scheme for visual servoing to successfully make use of feature descriptors with various (and variable) computational times. We demonstrate this approach to the docking problem with autonomous ground vehicles and ASVs. The results from several situations are compared, showing that disturbance rejection coupled with SARSA($\lambda$) is an effective approach.",
issn="1861-2784",
doi="10.1007/s11370-011-0100-0",
url="http://dx.doi.org/10.1007/s11370-011-0100-0"
}

@INPROCEEDINGS{Kim2017Performance, 
author={B. K. Kim and Y. Sumi}, 
booktitle={2017 IEEE Underwater Technology (UT)}, 
title={Performance evaluation of safety sensors in the indoor fog chamber}, 
year={2017}, 
pages={1-3}, 
abstract={In this study, the visibility performance test of safety sensors is carried out in the indoor fog chamber and the effect of the concentration of the fog on the visibility of safety sensors is evaluated. First, safety sensors and outdoor environmental requirements are explained. And also, the relationship between the visibility and the performance of safety sensors is discussed and the current problems for evaluating visibility performance are described. Next, the indoor fog chamber is introduced and spectral transmittance measuring equipment for evaluating the visibility reduction is described. Finally, the use conditions of safety sensors in the outdoors are discussed by measuring the reduction of visibility due to fog and performing preliminary experiments on visibility and sensor performance.}, 
keywords={environmental factors;fog;performance evaluation;safety;sensors;visibility;indoor fog chamber;outdoor environmental requirement;performance evaluation;safety sensor;spectral transmittance measuring equipment;visibility performance testing;visibility reduction evaluation;IEC Standards;Laser radar;Performance evaluation;Robot sensing systems;Safety;Fog;Indoor Fog Chamber;LiDAR Sensor;Safety Sensor;Visibility}, 
doi={10.1109/UT.2017.7890317}, 
month={Feb},}

@article{Kitowski2016Application,
title={Application of domestic unmanned surface vessels in the area of internal security and maritime economy — capacities and directions for development},
year={2016},
Volume={57},
number={3 (206)},
pages={67--83},
author={Kitowski, Z. and Soli\'{n}ski, R.},
institution={Polish Naval Academy, Faculty of Mechanical and Electrical Engineering , \'{S}midowicza 69 Str., 81 - 127 Gdynia},
abstract={The paper presents the issues associated with the domestic construction of unmanned surface vessels, which are in the limelight of western counties as one of the reinforcing elements of internal security and maritime economy. Also discussed are some experiences from construction of the first such vessel named ‘Edredon’, and on the example of Gdansk Bay and the seaport of Gdynia a number of selected tasks that can be carried out by a vessel in the process of state’s maritime services protection, and in monitoring and protection of the seaports and objects of critical infrastructure. Moreover, the directions for further development (autonomous vessels, in particular) that can be accomplished in a short period of time, based on domestic scientific abilities and shipbuilding industry are indicated.},
keywords={unmanned surface vessels;internal security; sea ports and critical infrastructure protection},
journal={Zeszyty Naukowe Akademii Marynarki Wojennej},
}

@ARTICLE{Kitts2008Design,
author={C. A. Kitts and M. Egerstedt},
journal={IEEE Robotics Automation Magazine},
title={Design, Control, and Applications of Real-World Multirobot Systems [From the Guest Editors]},
year={2008},
volume={15},
number={1},
pages={8-8},
abstract={The six articles in this special present state-of-the-art work in mobile multirobot systems with an emphasis on techniques that have matured to the point of being evaluated through experimentation.},
keywords={Actuators;Automatic control;Communication system control;Control systems;Multirobot systems;Robot kinematics;Robotics and automation;Sensor systems;Space technology;System testing},
doi={10.1109/M-RA.2007.914989},
ISSN={1070-9932},
month={March},}

@mastersthesis{Klemens2017Development,
title={Development and Evaluation of a USV Based Mapping System for Remote Sensing of Eelgrass Extent in Southern California},
author={Klemens, Kevin William},
year={2017},
school={University of Southern California},
abstract={Sidescan sonar coupled with a Global Navigation Satellite System (GNSS) provides a near photographic image of features underwater for use in mapping applications. Sidescan sonar acoustic pings are drawn as raw images, spatially referenced using GNSS coordinates and then mosaiced in specialized software to produce coverage areas. The resulting two dimensional images can then be analyzed in Geographic Information Systems (GIS) for manmade or natural underwater features. This technology has a special application for mapping eelgrass extent in Southern California, which has become a focus of research for the National Oceanic and Atmospheric Agency (NOAA) and several National Marine Estuary programs. Eelgrass is a submerged aquatic flowering plant that provides critical structural environments for resident bay and estuarine species, including abundant fish and invertebrates and is often a primary diet for several grazing snails. This project demonstrates the viability of creating a low-cost Unmanned Surface Vehicle (USV) with an attached sidescan sonar sensor for scientist and researchers to use in mapping eelgrass. The remote sensing imagery collected by the USV is classified in ArcGIS to calculate the full spatial extent of the visible eelgrass beds. The results of this project show acoustic imagery collected by a USV can be used to create classified bottom composition maps through manual classification. Unsupervised classification did not produce the desired results and is still a work in progress. By demonstrating these mapping tools, researchers can conduct studies at a much lower cost and on their own time instead of relying on expensive, contracted surveys.},
}

@ARTICLE{Klinger2017Control, 
author={W. B. Klinger and I. R. Bertaska and K. D. von Ellenrieder and M. R. Dhanak}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={Control of an Unmanned Surface Vehicle With Uncertain Displacement and Drag}, 
year={2017}, 
volume={42}, 
number={2}, 
pages={458-476}, 
abstract={Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time varying and uncertain. The USV is a 4.3-m-long, 150-kg wave adaptive modular vessel (WAM-V) with an inflatable twin-hull configuration and waterjet propulsion. Open-loop maneuvering tests were conducted to characterize the dynamics of the vehicle. The hydrodynamic coefficients of the vehicle were determined through system identification of the maneuvering data and were used for simulations during control system development. The resulting controllers were experimentally field tested on-water. Variable mass and drag tests show that the vehicle is best controlled by a model reference adaptive backstepping speed and heading controller. The backstepping controller developed by Liao et al. (2010) is modified to account for an overprediction of necessary control action and motor saturation. It is shown that when an adaptive algorithm is implemented for the surge control subsystem of the modified backstepping controller, the effects of variable mass and drag are mitigated.}, 
keywords={hydrodynamics;marine control;marine vehicles;model reference adaptive control systems;remotely operated vehicles;time-varying systems;velocity control;USV control;WAM-V;heading controller;hydrodynamic vehicle coefficients;inflatable twin-hull configuration;maneuvering data;model reference adaptive backstepping speed controller;open-loop maneuvering tests;surge control subsystem;time varying drag properties;uncertain displacement;unmanned surface vehicle control;vehicle dynamics;waterjet propulsion;wave adaptive modular vessel;Acceleration;Adaptation models;Drag;Sea surface;Surges;Vehicle dynamics;Vehicles;Adaptive control;parameter uncertainty;unmanned vehicles}, 
doi={10.1109/JOE.2016.2571158}, 
ISSN={0364-9059}, 
month={April},}

@mastersthesis{Krossholm2018Multi,
author={Krossholm, Kristoffer Kleven},	
month={Jun},	
year={2018},
URL={http://hdl.handle.net/11250/2562120},	
abstract={Autonomous surface vehicles (ASVs) are likely to revolutionize the maritime industry in the near future. To obtain situation awareness and avoid collisions, information from various types of sensors is needed. Visual cameras mounted on an ASV provide a detailed description of its surroundings. In this thesis, an algorithm for object detection in images based on unsupervised learning is implemented and tested. Different from supervised learning, unsupervised learning algorithms have no ground truth to use as guidance for learning what type of objects it should detect. This saves a large amount of human labor, and enables detection of objects the algorithm has not seen before. The object detection algorithm is based on a neural network, specifically an autoencoder, that is trained to represent visual ocean features well, while highlighting what it consider anomalous. Hence, the algorithm relies on the assumption that objects are represented as anomalies in the image data. The evaluation shows that the algorithm at its best is able to detect all objects. However, this comes at the expense of a high number of false positives. The maritime environment contains a lot of natural features, such as waves, that stand out visually. These are often considered anomalous by the algorithm, and therefore detected as objects.},
publisher={NTNU},
school={NTNU},
title={Unsupervised Object Detection in Images from Maritime Environments},	
}

@inproceedings{Korsah2014Oil,
title={Oil spill trajectory simulation for the Saltpond oilfield, Ghana, West Africa},
author={Korsah, Percy Erasmus and Anifowose, Babatunde and others},
booktitle={Abu Dhabi International Petroleum Exhibition and Conference},
year={2014},
organization={Society of Petroleum Engineers}
}

@INPROCEEDINGS{Krishna2017Autonomous,
author={C. G. L. Krishna and M. Cao and R. R. Murphy},
booktitle={2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
title={Autonomous observation of multiple USVs from UAV while prioritizing camera tilt and yaw over UAV motion},
year={2017},
volume={},
number={},
pages={141-146},
abstract={This paper proposes a scheme for observing cooperative Unmanned Surface Vehicles (USV), using a rotorcraft Unmanned Aerial Vehicle (UAV) with camera movements (tilt and yaw) prioritized over UAV movements. Most of the current researches consider a fixed-wing type UAV for surveillance of multiple moving targets (MMT), whose functionality is limited to just UAV movements. Experiments in simulation are conducted and verified that, prioritizing camera movements increased the number of times each USV is visited (on an average by 5.68 times more), decreased the percentage of the duration that the UAV is not observing any USV (on an average by 19.8%) and increased the efficiency by decreasing the distance traveled by the UAV (on an average by 747 pixels) for the six test cases. Autonomous repositioning of the UAV at regular intervals to observe USVs during a disaster scenario will provide the operator with better situational awareness. Using a rotorcraft over a fixed-wing type UAV provides the operator with a flexibility of observing the target for the required duration by hovering and freedom of unrestricted movements, which help improve the efficiency of target observation.},
keywords={aerospace components;autonomous aerial vehicles;cameras;helicopters;mobile robots;robot vision;UAV motion;UAV movements;USV;autonomous observation;camera movements;camera tilt;camera yaw;cooperative unmanned surface vehicles;fixed-wing type UAV;multiple USVs;multiple moving targets;rotorcraft;rotorcraft Unmanned Aerial Vehicle;situational awareness;Cameras;Manuals;Measurement;Robots;Software algorithms;Surveillance;Unmanned aerial vehicles},
doi={10.1109/SSRR.2017.8088154},
ISSN={},
month={Oct},}

@ARTICLE{Kristan2016Fast, 
author={M. Kristan and V. Suli\'{c} Kenk and S. Kova\v{c}i\v{c} and J. Per\v{s}}, 
journal={IEEE Transactions on Cybernetics}, 
title={Fast Image-Based Obstacle Detection From Unmanned Surface Vehicles}, 
year={2016}, 
volume={46}, 
number={3}, 
pages={641-654}, 
abstract={Obstacle detection plays an important role in unmanned surface vehicles (USVs). The USVs operate in a highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which presents a significant challenge to continuous detection from images taken on board. This paper addresses the problem of online detection by constrained, unsupervised segmentation. To this end, a new graphical model is proposed that affords a fast and continuous obstacle image-map estimation from a single video stream captured on board a USV. The model accounts for the semantic structure of marine environment as observed from USV by imposing weak structural constraints. A Markov random field framework is adopted and a highly efficient algorithm for simultaneous optimization of model parameters and segmentation mask estimation is derived. Our approach does not require computationally intensive extraction of texture features and comfortably runs in real time. The algorithm is tested on a new, challenging, dataset for segmentation, and obstacle detection in marine environments, which is the largest annotated dataset of its kind. Results on this dataset show that our model outperforms the related approaches, while requiring a fraction of computational effort.}, 
keywords={Markov processes;control engineering computing;image segmentation;marine vehicles;object detection;optimisation;remotely operated vehicles;video signal processing;Markov random field framework;USV;continuous obstacle image-map estimation;graphical model;image-based obstacle detection;marine environment semantic structure;model parameter optimization;pier;scuba diver;segmentation mask estimation;shoreline part;unmanned surface vehicles;unsupervised segmentation;video stream;weak structural constraints;wood piece;Cameras;Estimation;Feature extraction;Image color analysis;Image segmentation;Optimized production technology;Semantics;Autonomous surface vehicles;Gaussian mixture models;Markov random fields (MRFs);obstacle-map estimation;obstacle-map estimation.}, 
doi={10.1109/TCYB.2015.2412251}, 
ISSN={2168-2267}, 
month={March},}

@misc{Kucik2004Reconnaissance,
  title={Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles},
  author={Kucik, Daniel},
  year={2004},
  month={mar},
  publisher={Google Patents},
  note={US Patent 6,712,312}
}

@INPROCEEDINGS{Kumru2016Survey, 
author={M. Kumru and K. Leblebicioglu and I. K. Erunsal and K. Ahiska}, 
booktitle={2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)}, 
title={A survey on tactical control algorithms for path tracking unmanned surface vehicles}, 
year={2016}, 
pages={1-6}, 
abstract={In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. The survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole placement, feedback linearization and sliding mode controllers according to the strategic goal. The parameters of the controllers are tuned with a common elitist genetic algorithm optimization infrastructure. The disturbance rejection capabilities of the controllers are discussed through Monte Carlo simulations of USVs within various wave disturbances as well.}, 
keywords={Monte Carlo methods;feedback;genetic algorithms; linearisation techniques; marine vehicles;mobile robots;pole assignment;telerobotics;three-term control;variable structure systems;Monte Carlo simulations;USV;UUV;common elitist genetic algorithm optimization infrastructure;constant bearing guidance rule;control allocation algorithms;feedback linearization;onboard acoustic sensors;path tracking;pole placement;proportional-integral-derivative controllers;sliding mode controllers;tactical control algorithms;unmanned surface vehicles;unmanned underwater vehicle;wave disturbances;Algorithm design and analysis;Mathematical model;Surface waves;Surges;Symmetric matrices;Target tracking;PID;USV;Unmanned surface vehicles;feedback linearization;genetic algorithm;modeling;path tracking;pole placement;sliding mode controller}, 
doi={10.1109/ICARCV.2016.7838568}, 
month={Nov},}

@article{Kurowski2012AgaPaS,
title = "AGaPaS - a new approach for Search-and-Rescue-Operations at sea",
journal = "IFAC Proceedings Volumes",
volume = "45",
number = "27",
pages = "73 - 78",
year = "2012",
note = "9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20120919-3-IT-2046.00013",
url = "http://www.sciencedirect.com/science/article/pii/S1474667016312071",
author = "Martin Kurowski and Holger Korte and Bernhard P. Lampe",
keywords = "Autonomous vehicles, control systems, automation, communication systems, prototyping, Search-and-Rescue",
abstract = "An innovative, satellite-guided Search-and-Rescue-System is under development. This system utilises an autonomously acting rescue vessel to salvage a person overboard to increase significantly the chance of survival. It was developed to be used on special ships or offshore platforms, where workers have to act in bad weather conditions and often going overboard of a person will be discovered too late. A substantial challenge is the automation of the autonomously acting rescue vehicle as well as the integration into the superior Search-and-Rescue-Process. The developed cascaded control concepts were designed to ensure the fastest possible approach to the casualty without endangering the person. Therefore, two degrees of freedom control concepts are used to separate the reference values from the disturbances. The inner speed control structure is divided into two parts and consists of the control structure itself with an in-line allocation to the device configuration. The paper mainly addresses the automation of the rescue vessel, the synthesis of the control system of the autonomously acting vehicle as well as the integration into the superior Search-and-Rescue-Process. Additionally, some test result of this complex system are shown at the end of the paper."
}

@misc{Ku2002Modularized,
  title={Modularized unmanned marine surface vehicle},
  author={Ku, B.Y.},
  url={https://www.google.com/patents/US6427615},
  year={2002},
  month={aug},
  publisher={Google Patents},
  note={US Patent 6,427,615}
}

@ARTICLE{Kuwata2014Safe, 
author={Y. Kuwata and M. T. Wolf and D. Zarzhitsky and T. L. Huntsberger}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={Safe Maritime Autonomous Navigation With COLREGS, Using Velocity Obstacles}, 
year={2014}, 
volume={39}, 
number={1}, 
pages={110-119}, 
abstract={This paper presents an autonomous motion planning algorithm for unmanned surface vehicles (USVs) to navigate safely in dynamic, cluttered environments. The algorithm not only addresses hazard avoidance (HA) for stationary and moving hazards, but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGS, for COLlision REGulationS). The COLREGS rules specify, for example, which vessel is responsible for giving way to the other and to which side of the “stand-on” vessel to maneuver. Three primary COLREGS rules are considered in this paper: crossing, overtaking, and head-on situations. For autonomous USVs to be safely deployed in environments with other traffic boats, it is imperative that the USV's navigation algorithm obeys COLREGS. Furthermore, when other boats disregard their responsibility under COLREGS, the USV must fall back to its HA algorithms to prevent a collision. The proposed approach is based on velocity obstacles (VO) method, which generates a cone-shaped obstacle in the velocity space. Because VOs also specify on which side of the obstacle the vehicle will pass during the avoidance maneuver, COLREGS are encoded in the velocity space in a natural way. Results from several experiments involving up to four vessels are presented, in what we believe is the first on-water demonstration of autonomous COLREGS maneuvers without explicit intervehicle communication. We also show an application of this motion planner to a target trailing task, where a strategic planner commands USV waypoints based on high-level objectives, and the local motion planner ensures hazard avoidance and compliance with COLREGS during a traverse.}, 
keywords={clutter;collision avoidance;hazards;marine navigation;regulation;remotely operated vehicles;COLREGS;USV waypoints;autonomous motion planning;avoidance maneuver;cluttered environments;collision prevention;collision regulations;cone-shaped obstacle;dynamic environments;hazard avoidance;high-level objectives;international regulations;motion planner;moving hazards;safe maritime autonomous navigation;sea;stand-on vessel;stationary hazards;strategic planner commands;traffic boats;trailing task;unmanned surface vehicles;velocity obstacles;COLREGS;unmanned surface vehicle (USV);velocity obstacles (VOs)}, 
doi={10.1109/JOE.2013.2254214}, 
ISSN={0364-9059}, 
month={Jan},}

@article{La2015Data,
author="La, Hung Manh and Gucunski, Nenad and Kee, Seong-Hoon and Nguyen, Luan Van",
title="Data analysis and visualization for the bridge deck inspection and evaluation robotic system",
journal="Visualization in Engineering",
year="2015",
month="Feb",
day="24",
volume="3",
number="1",
pages="6",
abstract="Bridge deck inspection is essential task to monitor the health of the bridges. Condition monitoring and timely implementation of maintenance and rehabilitation procedures are needed to reduce future costs associated with bridge management. A number of Nondestructive Evaluation (NDE) technologies are currently used in bridge deck inspection and evaluation, including impact-echo (IE), ground penetrating radar (GPR), electrical resistivity (ER), ultrasonic surface waves (USW) testing, and visual inspection. However, current NDE data collection is manually conducted and thus faces with several problems such as prone to human errors, safety risks due to open traffic, and high cost process.",
issn="2213-7459",
doi="10.1186/s40327-015-0017-3",
url="https://doi.org/10.1186/s40327-015-0017-3"
}

@techreport{Lagasse2009Bridge,
title={Bridge scour and stream instability countermeasures: experience, selection, and design guidance: Volume 1},
author={Lagasse, PF and Clopper, PE and Pagan-Ortiz, JE and Zevenbergen, LW and Arneson, LA and Schall, JD and Girard, LG and others},
year={2009},
month={September},
number={FHWA-NHI-09-111, HEC 23},
volume={1},
institution={US Department of Transportation, National Highway Administration},
publisher={National Highway Institute}, abstract={This document identifies and provides design guidelines for bridge scour and stream instability countermeasures that have been implemented by various State departments of transportation (DOTs) in the United States. Countermeasure experience, selection, and design guidance are consolidated from other FHWA publications in this document to support a comprehensive analysis of scour and stream instability problems and provide a range of solutions to those problems. Selected innovative countermeasure concepts and guidance derived from practice outside the United States are introduced. Management strategies and guidance for developing a Plan of Action for scour critical bridges are outlined, and guidance is provided for scour monitoring using portable and fixed instrumentation.

The results of recently completed National Cooperative Highway Research Program (NCHRP) projects are incorporated in the design guidance, including: countermeasures to protect bridge piers and abutments from scour; riprap design criteria, specifications, and quality control; and environmentally sensitive channel and bank protection measures. This additional material required expanding HEC-23 to two volumes. Volume 1 now contains a complete chapter on riprap design,
specifications, and quality control as well as an expanded chapter on biotechnical ountermeasures. The guidance on scour monitoring instrumentation has been updated and now includes additional installation case studies. Volume 2 contains 19 detailed design guidelines grouped into six categories, including countermeasures for: (1) stream instability (2) streambank and roadway embankment protection, (3) bridge pier protection, (4) abutment protection, (5) filter design, and (6) special applications.}
}

@techreport{Larson2007Advances,
title={Advances in autonomous obstacle avoidance for unmanned surface vehicles},
author={Larson, Jacoby and Bruch, Michael and Halterman, Ryan and Rogers, John and Webster, Robert},
year={2007},
institution={DTIC Document}
}

@article{Latha2015Autonomous,
title={Autonomous Surface Vessels Navigation Using Cluster Space Control Technique in Multi-Robot System},
author={R. Latha and K. Vijayalakshmi},
journal={International Journal of Advanced Trends in Computer Science and Engineering},
volume={4},
number={2},
month={April},
year={2015},
issn={2278-3091},
url={http://www.warse.org/ijatcse/static/pdf/file/ijatcse01422015.pdf},
abstract={Multi-robot systems control over many advantages over a single-robot managing system, including redundancy, coverage and flexibility. One of the important technical considerations in fielding multirobot systems for real-world applications is the coordinating the different units. The cluster based controlling technique using simplified specification and monitoring of the movement of mobile multirobot systems. Our previous work has established this approach and has experimentally verified its use for land-based systems consisting of 2-4 robots and with varying implementations ranging from automated movement control to human-in-the-loop piloting. In this paper, we plan the design and fabrication of a new low-cost autonomous surface vessel (ASV). The technical system includes a multi-robot system capable of autonomous navigation using the cluster control technique. It also adds a centralized controller, currently connected via a shore-based computer that wirelessly receives ASV data and relays using commands. Using the different cluster space control approach, these drive commands allow a robot to remotely drive a two-ASV cluster or to specify that the two ASVs maintain formation with a third robot. The resulting multi-ASV clusters can be translated, and resized depending on the needs of a particular application. Experimental results demonstrating these abililities of robots to provide, and plans for future work are discussed.}
}


@article{Lattanzi2017Review,
author={David Lattanzi and Gregory Miller},
title={Review of Robotic Infrastructure Inspection Systems},
journal={Journal of Infrastructure Systems},
volume={23},
number={3},
pages={04017004},
year={2017},
abstract={In order to minimize the costs, risks, and disruptions associated with structural inspections, robotic systems have increasingly been studied as an enhancement to current inspection practices. Combined with the increasing variety of commercially available robots, the last two decades have seen dramatic growth in the application of such systems. The use of these systems spans the breadth of civil infrastructure works, and the variety of implemented robotic systems is growing rapidly. However, the highly interdisciplinary nature of research in this field means that results are disseminated across a broad variety of publications. This review paper aggregates these studies in an effort to distill the state of the art in inspection robotics, as well as to assess outstanding challenges in the field and possibilities for the future. Overall, analysis of these studies illustrates that the design of inspection robots is often a case-specific compromise between competing needs for sophisticated inspection sensing and for flexible locomotion in challenging field environments. This review also points toward the growing use of robots as a platform to deploy advanced nondestructive evaluation (NDE) technologies, as well as the expanded use of commercially available robotic systems. Two key outstanding challenges for future researchers are suggested as well. The first is the need for more sophisticated, and inspection-driven, robot autonomy. The other is the need to process and manipulate the massive data sets that modern robots generate.},
}

@article{Lee2004Fuzzy,
  title={A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREG guidelines},
  author={Lee, Sang-Min and Kwon, Kyung-Yub and Joh, Joongseon},
  journal={International Journal of Control Automation and Systems},
  volume={2},
  pages={171--181},
  year={2004},
  publisher={Korean Institute of Electrical Engineers}
}

@article{Lee2015Development,
  title={Development of advanced sonar sensor model for underwater terrain mapping based on occupancy grids},
  author={Lee, Sejin and Kim, Donghyun and Tokuta, Alade O},
  journal={International Journal of Applied Engineering Research},
  volume={10},
  number={17},
  pages={38045--38050},
  year={2015}
}

@article{Lee2016Development,
  title={Development of Underwater Terrain Map Building Method on Polar Coordinates by Using 3D Sonar Point Clouds},
  author={Lee, Eon-ho and Lee, Sejin},
  journal={International Journal of Applied Engineering Research},
  volume={11},
  number={14},
  pages={8259--8264},
  year={2016}
}

@INPROCEEDINGS{Lee2017Deep, 
author={S. Lee}, 
booktitle={2017 IEEE Underwater Technology (UT)}, 
title={Deep learning of submerged body images from 2D sonar sensor based on convolutional neural network}, 
year={2017}, 
pages={1-3}, 
abstract={Given the harsh working conditions such as high-speed flow rate, turbid watch, and steep terrain, it is a very challenging task to find submerged bodies in disaster site occurred at sea or river or for the military purpose. Therefore, if it is possible to utilize the unmanned robot, such as the USV(Unmanned Surface Vehicle) and UUV (Unmanned Underwater Vehicle) for the navigational operation of these special purpose, it has a great effect. Underwater ultrasound image information is pretty difficult to make the geometric modeling of submerged body due to heavy noise on its characteristics. This study presents the robust method of submerged body recognition based on the CNN(Convolutional Neural Network), which is one of the deep learning approach.}, 
keywords={image recognition;image sensors;learning (artificial intelligence);neural nets;sonar imaging;2D sonar sensor;CNN;USV;UUV;convolutional neural network;deep learning;disaster;geometric modeling;high-speed flow rate;military purpose;navigational operation;steep terrain;submerged body image recognition;turbid watch;underwater ultrasound image information;unmanned robot;unmanned surface vehicle;unmanned underwater vehicle;Kernel;Machine learning;Neural networks;Robot sensing systems;Sea surface;Sonar;Convolutional Neural Network;Submerged Body Recognition;Underwater Sonar Image;Unmanned Surface Vehicle;Unmanned Underwater Vehicle}, 
doi={10.1109/UT.2017.7890309}, 
month={Feb},}

@phdthesis{Leedekerken2011Mapping,
  title={Mapping of complex marine environments using an unmanned surface craft},
  author={Leedekerken, Jacques Chadwick},
  year={2011},
  school={Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science},
  abstract={Recent technology has combined accurate GPS localization with mapping to build 3D maps in a diverse range of terrestrial environments, but the mapping of marine environments lags behind. This is particularly true in shallow water and coastal areas with man-made structures such as bridges, piers, and marinas, which can pose formidable challenges to autonomous underwater vehicle (AUV) operations. In this thesis, we propose a new approach for mapping shallow water marine environments, combining data from both above and below the water in a robust probabilistic state estimation framework. The ability to rapidly acquire detailed maps of these environments would have many applications, including surveillance, environmental monitoring, forensic search, and disaster recovery. Whereas most recent AUV mapping research has been limited to open waters, far from man-made surface structures, in our work we focus on complex shallow water environments, such as rivers and harbors, where man-made structures block GPS signals and pose hazards to navigation. Our goal is to enable an autonomous surface craft to combine data from the heterogeneous environments above and below the water surface - as if the water were drained, and we had a complete integrated model of the marine environment, with full visibility. To tackle this problem, we propose a new framework for 3D SLAM in marine environments that combines data obtained concurrently from above and below the water in a robust probabilistic state estimation framework. Our work makes systems, algorithmic, and experimental contributions in perceptual robotics for the marine environment. We have created a novel Autonomous Surface Vehicle (ASV), equipped with substantial onboard computation and an extensive sensor suite that includes three SICK lidars, a Blueview MB2250 imaging sonar, a Doppler Velocity Log, and an integrated global positioning system/inertial measurement unit (GPS/IMU) device. The data from these sensors is processed in a hybrid metric/topological SLAM state estimation framework. A key challenge to mapping is extracting effective constraints from 3D lidar data despite GPS loss and reacquisition. This was achieved by developing a GPS trust engine that uses a semi-supervised learning classifier to ascertain the validity of GPS information for different segments of the vehicle trajectory. This eliminates the troublesome effects of multipath on the vehicle trajectory estimate, and provides cues for submap decomposition. Localization from lidar point clouds is performed using octrees combined with Iterative Closest Point (ICP) matching, which provides constraints between submaps both within and across different mapping sessions. Submap positions are optimized via least squares optimization of the graph of constraints, to achieve global alignment. The global vehicle trajectory is used for subsea sonar bathymetric map generation and for mesh reconstruction from lidar data for 3D visualization of above-water structures. We present experimental results in the vicinity of several structures spanning or along the Charles River between Boston and Cambridge, MA. The Harvard and Longfellow Bridges, three sailing pavilions and a yacht club provide structures of interest, having both extensive superstructure and subsurface foundations. To quantitatively assess the mapping error, we compare against a georeferenced model of the Harvard Bridge using blueprints from the Library of Congress. Our results demonstrate the potential of this new approach to achieve robust and efficient model capture for complex shallow-water marine environments. Future work aims to incorporate autonomy for path planning of a region of interest while performing collision avoidance to enable fully autonomous surveys that achieve full sensor coverage of a complete marine environment.},
}

@article {Leingartner2016Evaluation,
author={Leingartner, Max and Maurer, Johannes and Ferrein, Alexander and Steinbauer, Gerald},
title={Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels},
journal={Journal of Field Robotics},
volume={33},
number={8},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.21611},
doi={10.1002/rob.21611},
pages={1037--1057},
year={2016},
abstract={Ground or aerial robots equipped with advanced sensing technologies, such as three-dimensional laser scanners and advanced mapping algorithms, are deemed useful as a supporting technology for first responders. A great deal of excellent research in the field exists, but practical applications at real disaster sites are scarce. Many projects concentrate on equipping robots with advanced capabilities, such as autonomous exploration or object manipulation. In spite of this, realistic application areas for such robots are limited to teleoperated reconnaissance or search. In this paper, we investigate how well state-of-the-art and off-the-shelf components and algorithms are suited for reconnaissance in current disaster-relief scenarios. The basic idea is to make use of some of the most common sensors and deploy some widely used algorithms in a disaster situation, and to evaluate how well the components work for these scenarios. We acquired the sensor data from two field experiments, one from a disaster-relief operation in a motorway tunnel, and one from a mapping experiment in a partly closed down motorway tunnel. Based on these data, which we make publicly available, we evaluate state-of-the-art and off-the-shelf mapping approaches. In our analysis, we integrate opinions and replies from first responders as well as from some algorithm developers on the usefulness of the data and the limitations of the deployed approaches, respectively. We discuss the lessons we learned during the two missions. These lessons are interesting for the community working in similar areas of urban search and rescue, particularly reconnaissance and search.},
}

@INPROCEEDINGS{Lera2014Mobile, 
author={F. R. Lera and F. C. Garc\'{i}a and G. Esteban and V. Matell\'{a}n}, 
booktitle={2014 2nd International Conference on Artificial Intelligence, Modelling and Simulation}, 
title={Mobile Robot Performance in Robotics Challenges: Analyzing a Simulated Indoor Scenario and Its Translation to Real-World}, 
year={2014}, 
pages={149-154}, 
abstract={This paper discusses the pros and cons of using 3D simulators for testing the autonomous behavior of mobile robots in indoor environments. Major contribution of the paper is the discussion about which problems that can be faced using the simulator and those that cannot. We present the integration and calibration of a real non-commercial robot in a simulator, the characterization of the errors in sensing, navigation, and manipulation, and how these errors would impact in the real performance of the robot. The experimental support of the claims made in the paper has been developed using the gazebo simulator. RoCKIn competition rulebook defined the indoor restrictions.}, 
keywords={control engineering computing;mobile robots;path planning;3D simulator;RoCKIn competition rulebook;gazebo simulator;mobile robot behavior;mobile robot performance;robot manipulation;robot navigation;robot sensing;robotics challenge;simulated indoor scenario;Feature extraction;Hardware;Mobile robots;Robot sensing systems;Software;Robot simulation;error calibration;indoor simulation;simulator performance}, 
doi={10.1109/AIMS.2014.35}, 
month={Nov},}

@article{Lewis2010Choosing,
author={Michael Lewis and Huadong Wang and Shih Yi Chien and Prasanna Velagapudi and Paul Scerri and Katia Sycara},
title={Choosing Autonomy Modes for Multirobot Search},
journal={Human Factors},
volume={52},
number={2},
pages={225-233},
year={2010},
doi={10.1177/0018720810366859},
note ={PMID: 20942252},
URL={http://dx.doi.org/10.1177/0018720810366859},
eprint={http://dx.doi.org/10.1177/0018720810366859},
abstract={ Objective: The number of robots an operator can supervise increases with the robots’ level of autonomy. The reported study investigates multirobot foraging to identify aspects of the task most suitable for automation. Background: Many envisioned applications of robotics involve multirobot teams. One of the simplest of these applications is foraging, in which robots are operated independently to explore and discover targets. Depending on levels of autonomy and task, operators have been found able to manage 3 to 12 robots. Method: The foraging task can be functionally subdivided into visiting new regions and identifying targets. In the reported experiment, full-task foraging performance was compared with exploration and perceptual search performance for 4-, 8-, and 12-robot teams in a between-groups repeated measures design. Results: Operators in the full-task condition could not successfully manage 12 robots, finding only half as many victims as perceptual search operators. Exploration performance was roughly the same in the full-task and exploration conditions, suggesting that performance of this subtask was limiting the number of robots that could be controlled. Conclusion: Performance and workload measures indicate that exploration (navigation) tasks are the limiting factor in multirobot foraging. This finding suggests that robot navigation is the best candidate for automation. Application: Search tasks, such as foraging or perimeter control, account for many of the near-term applications envisioned for multirobot teams. The results support the choice of task-centered architectures in which the control and coordination of robotic platforms is automated, leaving search and identification of targets to human operators. }
}

@article{Lewis2011Process,
author={Michael Lewis and Huadong Wang and Shih Yi Chien and Prasanna Velagapudi and Paul Scerri and Katia Sycara},
title={Process and Performance in Human-Robot Teams},
journal={Journal of Cognitive Engineering and Decision Making},
volume={5},
number={2},
pages={186-208},
year={2011},
doi={10.1177/1555343411409323},
URL={http://dx.doi.org/10.1177/1555343411409323},
eprint={http://dx.doi.org/10.1177/1555343411409323},
abstract={ The authors are developing a theory for human control of robot teams based on considering how control difficulty grows with team size. Current work focuses on domains, such as foraging, in which robots perform largely independent tasks. Such tasks are particularly amenable to analysis because effects on performance and cognitive resources are predicted to be additive, and tasks can safely be allocated across operators because of their independence. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an urban search-and-rescue (USAR) task. Two possible ways to organize operators were identified: as individual assignments of robots to operators, assigned robots, or as a shared pool in which operators service robots from the population as needed. The experiment compares two-person teams of operators controlling teams of 12 robots each in the assigned-robots condition or sharing control of 24 robots in the shared-pool condition using either waypoint control in the manual condition or autonomous path planning in the autonomy condition. Automating path planning improved system performance, but process measures suggest it may weaken situation awareness. }
}

@article{Lewis2013Human,
author={Michael Lewis},
title={Human Interaction With Multiple Remote Robots},
journal={Reviews of Human Factors and Ergonomics},
volume={9},
number={1},
pages={131-174},
year={2013},
doi={10.1177/1557234X13506688},
URL={ http://dx.doi.org/10.1177/1557234X13506688},
abstract={ In this chapter, I review research involving remote human supervision of multiple unmanned vehicles (UVs) using command complexity as an organizing construct. Multi-UV tasks range from foraging, requiring little coordination among UVs, to formation following, in which UVs must function as a cohesive unit. Command complexity, the degree to which operator effort increases with the number of supervised UVs, is used to categorize human interaction with multiple UVs. For systems in which each UV requires the same form of attention (O(n)), effort increases linearly with the number of UVs. For systems in which the control of one UV is dependent upon another (O(>n)), additional UVs impose greater than linear increases due to the expense of coordination. For other systems, an operator interacts with an autonomously coordinating group, and effort is unaffected by group size (O(1)). Studies of human/multi-UV interaction can be roughly grouped into O(n) supervision, involving one-to-one control of individual UVs, or O(1) commanding, in which higher-level commands are directed to a group. Research in O(n) command has centered on round-robin control, neglect tolerance, and attention switching. Approaches to O(1) command are divided into systems using autonomous path planning only, plan libraries, human-steered planners, and swarms. Each type of system has its advantages. Less complete work in scalable displays for multiple UVs is reviewed. Mixing levels of command is probably necessary to supervise multiple UVs performing realistic tasks. Research in O(n) control is mature and can provide quantitative and qualitative guidance for design. Interaction with planners and swarms is less mature but more critical to developing effective multi-UV systems capable of performing complex tasks. }
}

@ARTICLE{Li2012Design,
author={Meilin Li and Yuqing He and Yulong Ma and Jun Yao},
title={Design and implementation of a new jet-boat based unmanned surface vehicle},
journal={IET Conference Proceedings},
year={2012},
month={January},
pages={768-771(3)},
publisher ={Institution of Engineering and Technology},
keywords={jet boat;ground control system;USV system design}, abstract={Autonomous unmanned surface vehicle (USV) has great potentials in many applications such as water quality monitoring, coastal defense and anti-terrorist. However, complicated surroundings and high uncertainties make its full autonomy difficult to realize. In this paper, we design and implement a new USV system rebuilt from a jet boat to provide convenience for future autonomous control experiments. The new designed USV system is composed of three parts: main body, on board computer control system and ground control system. Both its hardware structure and its software system are introduced detailedly in this paper, and some experimental results on data exchange are also presented to verify the validity of the whole USV system.},
}

@INPROCEEDINGS{Li2014Multi,
author={S. Li and Y. Guo and B. Bingham},
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
title={Multi-robot cooperative control for monitoring and tracking dynamic plumes},
year={2014},
volume={},
number={},
pages={67-73},
abstract={We study robotic tracking of dynamic plume front modeled by the advection-diffusion equation in this paper. Different from existing work purely relying on gradient measurement, the transport model of pollution source is explicitly considered in tracking control design. We first study the problem using a single robot and solve the problem in an estimation and control framework. We then extend it to the multi-robot case in a nearest-neighbor communication structure, and have the robots take formation along the plume front. The distributed control is scalable to a large number of robots. Simulation results show satisfactory performances of the proposed method.},
keywords={autonomous underwater vehicles;cooperative systems;distributed control;hydrodynamics;marine engineering;mobile robots;multi-robot systems;advection-diffusion equation;deep water horizon oil spill;distributed control;dynamic plume monitoring;dynamic plume tracking;gradient measurement;multirobot cooperative control;nearest-neighbor communication structure;ocean engineering communities;pollution source transport model;robotic tracking;tracking control design;underwater plume extent estimation;Equations;Mathematical model;Observers;Robot kinematics;Robot sensing systems},
doi={10.1109/ICRA.2014.6906591},
ISSN={1050-4729},
month={May},}

@article{Li2017Conflict,
author={Qing Li and Jasmine Siu Lee Lam},
title={Conflict resolution for enhancing shipping safety and improving navigational traffic within a seaport: vessel arrival scheduling},
journal={Transportmetrica A: Transport Science},
volume={0},
number={0},
pages={1-15},
month={May},
year={2017},
doi={10.1080/23249935.2017.1326068},
URL={http://dx.doi.org/10.1080/23249935.2017.1326068},
eprint={http://dx.doi.org/10.1080/23249935.2017.1326068},
abstract={ Navigational traffic conflict is a critical issue in shipping safety and traffic congestion management. Busy seaports are faced with the potential risk of navigational traffic conflicts due to increasing shipping volume and insufficient control on vessel movements. This paper focuses on the preplanning of conflict-free schedules for vessel arrivals within a seaport. The objective is achieved by a scheduling algorithm designed to eliminate potential conflicts under original vessel schedules with consideration of vessel priority as well as optimization task of delay minimization. A simulation study is developed for demonstrating and evaluating the algorithm for conflict resolution. The Port of Singapore is used as an example for model application. }
}

@article{Li2018Weather,
author={Chunyan Li and Eddie Weeks and Wei Huang and Brian Milan and Renhao Wu},
title={Weather-Induced Transport through a Tidal Channel Calibrated by an Unmanned Boat},
journal={Journal of Atmospheric and Oceanic Technology},
volume={35},
number={2},
pages={261-279},
year={2018},
doi={10.1175/JTECH-D-17-0130.1},
URL={https://doi.org/10.1175/JTECH-D-17-0130.1},
eprint={https://doi.org/10.1175/JTECH-D-17-0130.1},
abstract={ AbstractAn unmanned surface vehicle (USV) was designed and constructed to operate continuously for covering both flood and ebb and preferably a complete tidal cycle (e.g., ~24 h) to measure the vertical profiles of horizontal flow velocity. It was applied in a tidal channel at Port Fourchon, Louisiana. A bottom-mounted ADCP was deployed for 515 days. The first EOF mode of the velocity profiles showed a barotropic type of flow that explained more than 98.2\% of the variability. The second mode showed a typical estuarine flow with two layers, which explained 0.47\% of the variability. Using a linear regression of the total transport from the USV with the vertically averaged velocity from the bottom-mounted ADCP, with an R-squared value of 98\%, the total along-channel transport throughout the deployment was calculated. A low-pass filtering of the transport allowed for examining the impact of 76 events with cold, warm, or combined cold–warm fronts passing the area. The top seven most severe events were discussed, as their associated transports obviously stood out in the time series, indicating the importance of weather. It is shown that large-scale weather systems with frontal lines of ~1500–3000-km horizontal length scale control the subtidal transport in the area. Cold (warm) fronts tend to generate outward (inward) transports, followed by a rebound. The maximum coherence between the atmospheric forcing and the ocean response reached ~71\%–84\%, which occurred at about a frequency f of ~0.29 cycle per day or T of ~3.4 days in the period, consistent with the atmospheric frontal return periods (~3–7 days). }
}

@ARTICLE{Lindemuth2011Sea, 
author={M. Lindemuth and R. Murphy and E. Steimle and W. Armitage and K. Dreger and T. Elliot and M. Hall and D. Kalyadin and J. Kramer and M. Palankar and K. Pratt and C. Griffin}, 
journal={IEEE Robotics Automation Magazine}, 
title={Sea Robot-Assisted Inspection}, 
year={2011}, 
volume={18}, 
number={2}, 
pages={96-107}, 
abstract={The sea robot-assisted inspection (Sea-RAI) marsupial robot team is the first known manportable unmanned surface vehicle (USV) that hosts an unmanned aerial vehicle (UAV). The Sea-RAI is designed for inspecting littoral environments for military, environmental, and disaster-response applications. The project also provides a platform for exploring the four roles in a marsupial team: courier, messenger, manager, and coach. The cooperation between the vehicles extends their capabilities beyond the capabilities of a single vehicle. This article describes the robot team, details the design and construction of low-cost USVs, and describes the demonstration of the integrated system and the four key capabilities, such as seaworthiness, data display, marsupialism, and mission logging.}, 
keywords={aircraft;inspection;marine systems;mobile robots;multi-robot systems;remotely operated vehicles;disaster response applications;environmental applications;littoral environments inspection;marsupial robot team;military applications;mission logging;robot team;sea robot assisted inspection;unmanned aerial vehicle;unmanned surface vehicle;Marine vehicles;Mobile robots;Remote handling equipment;Robot kinematics;Robot sensing systems;Telerobotics;Vehicles}, 
doi={10.1109/MRA.2011.940994}, 
ISSN={1070-9932}, 
month={June},}

@INPROCEEDINGS{Liu2013Approach,
author={Q. Liu and Y. Liu},
booktitle={2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
title={An approach for auto bridge inspection based on climbing robot},
year={2013},
volume={},
number={},
pages={2581-2586},
abstract={Bridge inspection is a critical responsibility and essential task. Currently, many bridges should be inspected periodically for safety tests. Also, the maintenance and repair cost of bridges has rapidly increased every year, because the conventional methods such as bridge-detection vehicle and human visual inspection are time-consuming, expensive and lack quantitative objectivity. This paper proposes an approach and develops a system for auto bridge crack detection based on our well-developed bridge-climbing robot, which collects crack images with a high-resolution camera. In order to extract cracks and features automatically, a crack detection algorithm is proposed in this paper. There exits challenging issue on discriminating the real bridge crack from fake bridge crack, which does not harm the safety of the bridge. An approach of line structured light is proposed to address the issue. By combining the proposed crack inspection algorithm and line structured light method, the crack can be extracted and analyzed precisely. Some tests are conducted and both results verified the proposed inspection method and the developed system.},
keywords={bridges (structures);cameras;control engineering computing;crack detection;feature extraction;inspection;mechanical testing;mobile robots;safety;structural engineering computing;auto bridge crack detection;auto bridge inspection;bridge-climbing robot;crack extraction;crack images;crack inspection algorithm;fake bridge;feature extraction;high-resolution camera;line structured light;line structured light method;real bridge crack;safety test;Bridges;Cameras;Climbing robots;Inspection;Maintenance engineering;Safety},
doi={10.1109/ROBIO.2013.6739861},
ISSN={},
month={Dec},}

@Article{Liu2013Robotic,
author="Liu, Yugang and Nejat, Goldie",
title="Robotic Urban Search and Rescue: A Survey from the Control Perspective",
journal="Journal of Intelligent {\&} Robotic Systems",
year="2013",
volume="72",
number="2",
pages="147--165",
abstract="Robotic urban search and rescue (USAR) is a challenging yet promising research area which has significant application potentials as has been seen during the rescue and recovery operations of recent disaster events. To date, the majority of rescue robots used in the field are teleoperated. In order to minimize a robot operator's workload in time-critical disaster scenes, recent efforts have been made to equip these robots with some level of autonomy. This paper provides a detailed overview of developments in the exciting and challenging area of robotic control for USAR environments. In particular, we discuss the efforts that have been made in the literature towards: 1) developing low-level controllers for rescue robot autonomy in traversing uneven terrain and stairs, and perception-based simultaneous localization and mapping (SLAM) algorithms for developing 3D maps of USAR scenes, 2) task sharing of multiple tasks between operator and robot via semi-autonomous control, and 3) high-level control schemes that have been designed for multi-robot rescue teams.",
issn="1573-0409",
doi="10.1007/s10846-013-9822-x",
url="http://dx.doi.org/10.1007/s10846-013-9822-x"
}

@article{Liu2016Unmanned,
title="Unmanned surface vehicles: An overview of developments and challenges ",
journal="Annual Reviews in Control ",
volume="41",
number="",
pages="71 - 93",
year="2016",
note="",
issn="1367-5788",
doi="https://doi.org/10.1016/j.arcontrol.2016.04.018",
url="http://www.sciencedirect.com/science/article/pii/S1367578816300219",
author="Zhixiang Liu and Youmin Zhang and Xiang Yu and Chi Yuan",
keywords="Unmanned surface vehicles (USVs)",
keywords="Guidance, navigation and control (GNC)",
keywords="Autonomy",
keywords="Overview ",
abstract="Abstract With growing worldwide interest in commercial, scientific, and military issues associated with both oceans and shallow waters, there has been a corresponding growth in demand for the development of unmanned surface vehicles (USVs) with advanced guidance, navigation and control (GNC) capabilities. This paper presents a comprehensive literature review of recent progress in \{USVs\} development. The paper first provides an overview of both historical and recent \{USVs\} development, along with some fundamental definitions. Next, existing \{USVs\} \{GNC\} approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges. Finally, more general challenges and future directions of \{USVs\} towards more practical \{GNC\} capabilities are highlighted. "
}

@INPROCEEDINGS{Liu2016USV, 
author={D. Liu and X. Luan and F. Zhang and J. Jin and J. Guo and R. Zheng}, 
booktitle={2016 10th International Conference on Sensing Technology (ICST)}, 
title={An USV-based laser fluorosensor for oil spill detection}, 
year={2016}, 
pages={1-4}, 
abstract={Unmanned surface vehicle (USV) as a new platform has obvious advantages in the marine environmental monitoring. For the requirement of oil spill detection at the sea area of oil spills occur frequently, such as coastal ports, an USV-based laser fluorosensor was developed in our laboratory. In this paper, the overall scheme of USV-based laser fluorosensor system has been proposed, and it consists of shore-based terminal and laser fluorosensor. The laser fluorosensor system has been designed in detail. The axis of the transmitter and receiver in the system are coincident. A micro-pulse nitrogen laser and an ICCD are used as the excitation source and detector respectively. The laser and ICCD are both working at external trigger mode, and a delay generator outputs two TTL signals with fixed delay time to accomplish the time sequence control of the laser and ICCD camera, hence the range-gated detection of the system. The system performance has been tested both in the laboratory and field. The obtained results suggest that the optimal gate pulse delay and gate width of range-gated detection are 112~113ns and 10ns respectively under the condition of 5 meters detection range. The stability of the system has also been tested by repeated measurements, and the relative standard deviation is determined to be 3.47 %. The feasibility of applying the system to the field detection has also been verified in this work.}, 
keywords={optical sensors;remote sensing by laser beam;remotely operated vehicles;ICCD camera;micropulse nitrogen laser;oil spill detection;unmanned surface vehicle;usv-based laser fluorosensor;Delays;Fluorescence;Laser excitation;Laser stability;Logic gates;Oils;laser fluorosensor;oil spill;unmanned surface vehicle;wireless communication}, 
doi={10.1109/ICSensT.2016.7796237}, 
month={Nov},}

@phdthesis{Liu2017Reliable,
month={October},
title={Reliable and Safe Motion Control of Unmanned Vehicles},
school={Concordia University},
author={Zhixiang Liu},
year={2016},
url={http://spectrum.library.concordia.ca/981964/},
abstract={Unmanned vehicles (UVs) are playing an increasingly significant role in modern daily life. In the past decades, numerous commercial, scientific, and military communities across the world are developing fully autonomous UVs for a variety of applications, such as environmental monitoring and surveillance, post-disaster search and rescue, border patrol, natural resources exploration, and experimental platforms for new technologies verification. The excessive opportunities and threats that come along with these diverse applications have created a niche demand for UVs to extend their capabilities to perform more sophisticated and hazardous missions with greater autonomy, lower costs of development and operation, improved personnel safety and security, extended operational range (reliability) and precision, as well as increased flexibility in sophisticated environments including so-called dirty, dull, harsh, and dangerous missions.
In order to successfully and effectively execute missions and meet their corresponding performance criteria and overcome these ever-increasing challenges, greater autonomy together with more advanced reliable and safe motion control systems are required to offer the critical technologies for ensuring intelligent, safe, reliable, and efficient control of UVs in the presence of disturbances, actuator saturation, and even actuator faults, especially for practical applications. 
This thesis concentrates on the development of different reliable and safe motion control algorithms/strategies applicable to UVs, in particular, unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A number of contributions pertaining to the fault detection and diagnosis (FDD), fault-tolerant control (FTC), disturbance estimation and compensation, and actuator saturation avoidance have been made in this thesis. In addition to the control problems, this thesis also presents several guidance-related contributions, including adaptive observer-based line-of-sight (LOS) guidance law, time-varying lookahead distance scheme, piecewise path switching criterion for guiding a single UV, as well as a proportional-integral (PI) type of leader-follower formation guidance strategy for a group of UVs.}
}

@article{Liu2018Efficient,
title = "Efficient multi-task allocation and path planning for unmanned surface vehicle in support of ocean operations",
journal = "Neurocomputing",
volume = "275",
pages = "1550 - 1566",
year = "2018",
issn = "0925-2312",
doi = "https://doi.org/10.1016/j.neucom.2017.09.088",
url = "http://www.sciencedirect.com/science/article/pii/S092523121731617X",
author = "Yuanchang Liu and Richard Bucknall",
abstract="Seafloor networks of cables, pipelines, and other infrastructure underpin our daily lives, providing communication links, information, and energy supplies. Despite their global importance, these networks are vulnerable to damage by a number of natural seafloor hazards, including landslides, turbidity currents, fluid flow, and scour. Conventional geophysical techniques, such as high-resolution reflection seismic and side-scan sonar, are commonly employed in geohazard assessments. These conventional tools provide essential information for route planning and design; however, such surveys provide only indirect evidence of past processes and do not observe or measure the geohazard itself. As such, many numerical-based impact models lack field-scale calibration, and much uncertainty exists about the triggers, nature, and frequency of deep-water geohazards. Recent advances in technology now enable a step change in their understanding through direct monitoring. We outline some emerging monitoring tools and how they can quantify key parameters for deepwater geohazard assessment. Repeat seafloor surveys in dynamic areas show that solely relying on evidence from past deposits can lead to an under-representation of the geohazard events. Acoustic Doppler current profiling provides new insights into the structure of turbidity currents, whereas instrumented mobile sensors record the nature of movement at the base of those flows for the first time. Existing and bespoke cabled networks enable high bandwidth, low power, and distributed measurements of parameters such as strain across large areas of seafloor. These techniques provide valuable new measurements that will improve geohazard assessments and should be deployed in a complementary manner alongside conventional geophysical tools.",
}

@article{Liu2018Survey,
author={Liu, Yuanchang and Bucknall, Richard},
title={A survey of formation control and motion planning of multiple unmanned vehicles},
doi={10.1017/S0263574718000218},
journal={Robotica},
publisher={Cambridge University Press},
year={2018},
pages={1–29},
abstract={The increasing deployment of multiple unmanned vehicles systems has generated large research interest in recent decades. This paper therefore provides a detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning. Differing from other related papers, this paper pays a special attention to the collision avoidance problem and specifically discusses and reviews those methods that adopt flexible formation shape to achieve collision avoidance for multi-vehicle systems. In the conclusions, some open research areas with suggested technologies have been proposed to facilitate the future research development.},}

@article{Lubofsky2017Back,
author={Lubofsky,Evan},
year={2017},
month={Spring},
title={BACK TO BIKINI},
journal={Oceanus},
volume={52},
number={2},
pages={32-39},
note={Copyright - Copyright Woods Hole Oceanographic Institute Spring 2017; Artigo principal do documento - Photographs; Última atualização em - 2017-05-31; SubjectsTermNotLitGenreText - Pacific Ocean; United States--US; Marshall Islands; Japan},
abstract={Ken Buesseler climbed the highest peak on Enewetak Atoll and peered out over the expanse of paradise below. Offshore lay an azure lagoon inked with a dark-blue circle at its center. But this hole wasn't natural. It was created by an atomic bomb -- one a of series of 67 nuclear weapons tests conducted by the US between 1946 and 1958 on the tiny Marshall Islands in the Pacific Ocean. The highest peak on Enewetak also isn't natural. It's a massive 350-foot-wide concrete lid known as the Runit Dome that rises just ten feet above sea level. It was constructed in the late 1970s as an attempt by the US government to contain radioactivity from the nuclear tests. Some 111,000 cubic yards of radioactive topsoil and debris were bulldozed into another bomb crater and sealed over with a mosaic of several hundred concrete panels. "It was a temporary fix," said Buesseler, a marine chemist at Woods Hole Oceanographic Institution.},
keywords={Earth Sciences--Oceanography; Radioactivity; Nuclear tests; Nuclear weapons; Armed forces; Pacific Ocean; Marshall Islands; United States--US; Japan},
isbn={00298182},
language={English},
url={https://search.proquest.com/docview/1903818136?accountid=8034},
}

@INPROCEEDINGS{Ludvigsen2016Network,
author={M. Ludvigsen and S. M. Albrektsen and K. Cisek and T. A. Johansen and P. Norgren and R. Skjetne and A. Zolich and P. Sousa Dias and S. Ferreira and J. B. de Sousa and T. O. Fossum and {\O}. Sture and T. Røbekk Krogstad and {\O}. Midtgaard and V. Hovstein and E. V{\aa}gsholm}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Network of heterogeneous autonomous vehicles for marine research and management}, 
year={2016}, 
pages={1-7}, 
abstract={In April 2016, NTNU, FFI, Kongsberg Seatex, LSTS and Maritime Robotics set up an experiment to explore their capability to combine the research vessel Gunnerus, the AUV Hugin, the UAV X8 and the USV Mariner in a network of heterogeneous unmanned vehicles. Communication, manoeuvring, onboard processing and operational complexity are essential components in such networks. To provide communication the MBR broadband radio system was implemented. To show the capabilities of the system proposed, a scenario with seabed mapping and target recognition was defined. The experiment made it apparent that these networks has the potential of significantly saving cost for data collection in marine research and management by reducing ship time. To fully unlock the potential of networks of heterogeneous unmanned vehicles, the missions of each vehicle need to be more integrated.}, 
keywords={autonomous underwater vehicles;broadband networks;marine communication;object recognition;radio networks;Gunnerus research vessel;Hugin AUV;MBR broadband radio system;Mariner USV;X8 UAV;heterogeneous autonomous vehicles;heterogeneous unmanned vehicles;marine management;marine research;onboard processing;operational complexity;seabed mapping;target recognition;Bandwidth;Navigation;Robots;Sea surface;Synthetic aperture sonar;Telemetry;Vehicles;UAV;USV;UV;maritime communications;network}, 
doi={10.1109/OCEANS.2016.7761494}, 
month={Sept},}

@article{Luo2017Simulation,
author={Luo, Hanjiang and Wu, Kaishun and Ruby, Rukhsana and Hong, Feng and Guo, Zhongwen and Ni, Lionel M.},
title={Simulation and Experimentation Platforms for Underwater Acoustic Sensor Networks: Advancements and Challenges},
journal={ACM Comput. Surv.},
issue_date={June 2017},
volume={50},
number={2},
month={May},
year={2017},
issn={0360-0300},
pages={28:1--28:44},
articleno={28},
numpages={44},
url={http://doi.acm.org/10.1145/3040990},
doi={10.1145/3040990},
acmid={3040990},
publisher={ACM},
address={New York, NY, USA},
keywords={Underwater acoustic sensor networks, experiment, simulators, testbeds},
abstract={Ocean and water basically cover the major parts of our planet. To obtain the best utilization of the underlying resources on these parts of the Earth, people have made some research advancements. Specifically, the research on underwater wireless acoustic sensor networks (UWA-SNs) has made great progress. However, wide deployment of UWA-SNs is far from a reality due to several reasons. One important reason is that offshore deployment and field-level experiments of ocean-centric applications are both expensive and labor intensive. Other alternatives to attain this objective are to conduct simulation or experimentation that can reduce cost and accelerate the research activities and their outcomes. However, designing efficient and reliable simulation and experimentation platforms have proven to be more challenging beyond the expectation. In this article, we explore the main techniques (including their pros and cons) and components to develop simulation and experimentation platforms and provide a comprehensive survey report in this area. We classify simulation and experimentation platforms based on some typical criteria and then provide useful guidelines for researchers on choosing suitable platforms in accordance with their requirements. Finally, we address some open and un-resolved issues in this context and provide some suggestions on future research.},
} 

@article{Ma2014Autonomous,
booktitle={The Open Cybernetics \& Systemics Journal}, 
year={2014}, 
volume={8}, 
pages={72-76},
publisher={Bentham Open},
title={Autonomous Ship Safe Navigation using Smoothing A* Algorithm},
author={Yong Ma and Langxiong Gan and Yuanzhou Zheng and Jing Zhang},
abstract={Using reasonable and efficient autonomous technology for path planning can effectively improve the safety of ship navigation and can reduce human errors of maritime accidents. The planned path by A* algorithm is flawed with broken lines, many turning points and numerous transitional frequencies under the environment modeled by grid method.Smoothing A* algorithm is adopted to delete the removable points which prolong the planned path length. After all the realities of ship navigation are taken into account, smoothing A* algorithm is applied to resolve safe navigation problem for the ship. With the proposed smoothing A* algorithm, simulation results show that the conflict-free path can be planned for ships under different circumstances with static and dynamic obstacles and abide by the COLREGS.},
}

@INPROCEEDINGS{Machado2014Water, 
author={D. Machado and A. Martins and J. M. Almeida and H. Ferreira and G. Amaral and B. Ferreira and A. Matos and E. Silva}, 
booktitle={2014 Oceans - St. John's}, 
title={Water jet based autonomous surface vehicle for coastal waters operations}, 
year={2014}, 
pages={1-8}, 
abstract={This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.}, 
keywords={design engineering;environmental monitoring (geophysics);remotely operated vehicles;European ICARUS research project;USV;coastal water operations;danger reduction;data gathering;directional waterjet;electrical brushless motor;energy consumption;fiber glass hull;general purpose missions;handling requirements;large-scale search-and-rescue operations;low-cost small autonomous surface vehicle design;operation capability;operational requirements;operational scenario tests;patrolling;performance analysis;propulsion;rescue operations;robotic tool development;robotic tool integration;surf zone;test tank;water jet based autonomous surface vehicle;Computers;Global Positioning System;Payloads;Propulsion;Robots;Standards;Vehicles}, 
doi={10.1109/OCEANS.2014.7003169}, 
ISSN={0197-7385}, 
month={Sept},}

@article{Mahmud2017Comparing,
  title={Comparing performance of bottom-moored, glider, and unmanned surface vehicle towed PAM platforms for marine mammal detection},
  author={Mahmud, Sakib and Sidorovskaia, Natalia and Li, Kun and Pierpoint, Chris and Tiemann, Christopher and Mellinger, David},
  publisher={Seiche Marine Accoustic Solutions},
  month={February},
  year={2017},
}

@INPROCEEDINGS{Majid2016Design, 
author={M. H. A. Majid and M. R. Arshad}, 
booktitle={2016 IEEE/OES Autonomous Underwater Vehicles (AUV)},
title={Design of an autonomous surface vehicle (ASV) for swarming application}, 
year={2016}, 
pages={230-235}, 
abstract={Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation where it possesses large turning radius which is less suited for swarming purpose especially for a small area application. In this paper, a new ASV prototype is developed to accommodate swarming requirement and motion stability. Firstly, design requirements and the corresponding design methodology to achieve the aforementioned objectives are discussed. The practical aspects of the design are briefly presented and some related results from experiments related to the platform testing are presented. At the end of this paper, some future potential applications of the proposed ASV design are briefly highlighted.}, 
keywords={control system synthesis;motion control;multi-robot systems;remotely operated vehicles;stability;ASV;autonomous surface vehicle design;body structure;maneuverability capability;marine vehicle;motion stability;offshore activities;swarming application;turning radius;Force;Navigation;Robots;Sea surface;Turning;Vehicles;autonomous surface vehicle;new surface vehicle;surface vehicle stability;swarm robot;swarming application}, 
doi={10.1109/AUV.2016.7778676}, 
month={Nov},}

@INPROCEEDINGS{Majid2016Control, 
author={M. H. A. Majid and M. R. Arshad}, 
booktitle={2016 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)}, 
title={Control of autonomous surface vehicle for acoustic source tracking}, 
year={2016}, 
pages={101-106}, 
abstract={Autonomous surface vehicle (ASV) is developed to fulfill requirement of many offshore applications. One of the examples is tracking an underwater target of interests. Tracking underwater target involves two general steps, target position estimation and target following. In this paper, a control strategy for ASV performing underwater acoustic source tracking is presented. Firstly, method of acoustic source position estimation is discussed. Secondly, mathematical models to represent the ASV kinematic and kinetic are developed. Thirdly, based on the estimated position of the acoustic source and linearized dynamic model, guidance and speed controllers of the ASV are developed to track the position of the acoustic source. The developed controllers are designed based on PID control structure. The performance of the controllers in tracking the acoustic source is demonstrated through simulation results.}, 
keywords={marine vehicles;position control;three-term control;underwater acoustic communication;underwater sound;velocity control;ASV;PID control structure;acoustic source position estimation;autonomous surface vehicle;control strategy;linearized dynamic model;mathematical models;offshore applications;speed controllers;target following;target position estimation;underwater acoustic source tracking;underwater target;Conferences;Estimation;Intelligent systems;Sonar equipment;Target tracking;Underwater acoustics;PID controller;autonomous surface vehicle;guidance control;speed control;tracking;underwater acoustic}, 
doi={10.1109/I2CACIS.2016.7885297}, 
month={Oct},}

@article{Majohr2006Modelling,
  title={Modelling, simulation and control of an autonomous surface marine vehicle for surveying applications Measuring Dolphin MESSIN},
  author={Majohr, J{\"u}rgen and Buch, Thomas},
  journal={IEE Control Engineering Series},
  volume={69},
  pages={329},
  year={2006},
  publisher={PETER PEREGRINUS LTD}
}

@INPROCEEDINGS{Mancini2015Development,
author={A. Mancini and E. Frontoni and P. Zingaretti},
booktitle={2015 European Conference on Mobile Robots (ECMR)},
title={Development of a low-cost Unmanned Surface Vehicle for digital survey},
year={2015},
volume={},
number={},
pages={1-6},
abstract={During last years unmanned ground and aerial vehicles captured the attention of researchers and companies, while the available set of Unmanned Surface Vehicle platforms is smaller. In many scenarios an integrated approach is required considering a heterogeneous fleet of vehicles. In this paper we focus on the development of a low-cost unmanned surface platform for digital surveys. The boat has been designed to navigate also in shallow water owing to a low draft design. An embedded system with Robot Operating System (ROS) onboard has been deployed on the surface vehicle. One of the main advantages of the proposed solution is its reduced cost owing to open-hardware/software solutions. In particular, an open-hardware solution is responsible for the interfacing of an RTK GPS with a bathymetric ultrasound sensor to map the sea / lake / river floor. The boat can be either remotely controllable or fully autonomous. An Augmented Reality (AR) application has been also developed to show the path and the set of survey blocks that are mapped / not mapped. The AR application is particularly useful when the user remotely controls the boat, but also for supervising the autonomous survey. The performances achieved in the first trials are satisfactory and the AR application produces significant maps.},
keywords={augmented reality;autonomous underwater vehicles;bathymetry;control engineering computing;embedded systems;marine vehicles;mobile robots;operating systems (computers);ultrasonic transducers;ROS onboard;RTK GPS;aerial vehicle;augmented reality application;bathymetric ultrasound sensor;digital survey;draft design;embedded system;heterogeneous fleet;low-cost unmanned surface vehicle;open-hardware/software solution;remotely controllable;robot operating system onboard;unmanned ground vehicle;unmanned surface platform;Augmented reality;Global Positioning System;Propulsion;Receivers;Rivers;Vehicles},
doi={10.1109/ECMR.2015.7324189},
ISSN={},
month={Sept},}

@INPROCEEDINGS{Mancini2015High,
author={A. Mancini and E. Frontoni and P. Zingaretti and S. Longhi},
booktitle={2015 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={High-resolution mapping of river and estuary areas by using unmanned aerial and surface platforms},
year={2015},
volume={},
number={},
pages={534-542},
abstract={The accurate and precise mapping of Land Use / Land Cover (LU/LC) plays a key role in the management of a region. In particular the knowledge of areas close to rivers and / or estuaries is fundamental to prevent flooding preserving the integrity of artificial structures and natural flora and fauna. Actually the mapping is performed by processing remote sensed data with a typical GSD of 0.5m. The survey is expensive and the presence of clouds could invalidate an entire survey. This kind of survey is perfect for a monitoring over a long period while is not appropriate for a quasi real time imagery. The adoption of unmanned aerial vehicles (UAVs) is a proper solution owing to the low cost and the reduced time for the setup, but it lacks of a complete view of the area. The reason is the presence of canopy that occludes the view. We integrate the images acquired by an UAV characterized by a GSD of 0.03m with an Unmanned Surface Vehicle (USV) that collects images of the river from different point of view enhanced by an RGB-D sensor. The change detection algorithm applied to the collected data is based on a innovative hybrid classifier that fuses the benefit of pixel and object based approaches mapping the changes over a well defined temporal horizon.},
keywords={autonomous aerial vehicles;image colour analysis;image resolution;land use;real-time systems;LU/LC;RGB-D sensor;UAV;USV;estuary areas;high-resolution mapping;land use/land cover;real time imagery;river;surface platforms;unmanned aerial platforms;unmanned aerial vehicles;unmanned surface vehicle;Image segmentation;Remote sensing;Rivers;Satellites;Three-dimensional displays;Training;Unmanned aerial vehicles},
doi={10.1109/ICUAS.2015.7152333},
ISSN={},
month={June},}

@phdthesis{Manda2016Development,
  title={Development of autonomous surface vessels for hydrographic survey applications},
  author={Manda, Damian},
  year={2016},
  school={University of New Hampshire}
}

@INPROCEEDINGS{Manley2001Applying,
author={J. Manley and J. Curran and B. Lockyer and J. Morash and C. Chryssostomidis},
booktitle={MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)},
title={Applying AUV lessons and technologies to autonomous surface craft development},
year={2001},
volume={1},
number={},
pages={545-549 vol.1},
abstract={Describes the effort to converge separate AUV (autonomous underwater vehicle) and ASC (autonomous surface craft) research developments into a streamlined lab-wide standard. The final ASC and AUV configurations incorporating AUV based technologies are described and the results of field tests are presented. The paper concludes with an assessment of the benefits and limitations of this approach to autonomous vehicle development and operation},
keywords={mobile robots;navigation;underwater vehicles;AUV;autonomous surface craft;autonomous underwater vehicles;configurations;lab-wide standard;Control systems;Educational institutions;Marine vehicles;Mobile robots;Remotely operated vehicles;Rivers;Sea surface;Software systems;Testing;Underwater vehicles},
doi={10.1109/OCEANS.2001.968779},
ISSN={},
month={},}

@INPROCEEDINGS{Manley2008Unmanned, 
author={J. E. Manley}, 
booktitle={OCEANS 2008}, 
title={Unmanned surface vehicles, 15 years of development}, 
year={2008}, 
pages={1-4}, 
abstract={To celebrate the 40th Anniversary of the Oceanic Engineering Society (OES) at the MTS/IEEE OCEANS 2008 Conference in Quebec City a series of review papers were requested from OES technical committee chairs. In response to that request this paper provides a review of the field of unmanned surface vehicles (USVs) and autonomous surface craft (ASCs). The paper discusses the enabling technologies that have allowed USVs to emerge as a viable platform for marine operations as well as the application areas where they offer value. The paper tracks developments in technology from early systems developed by the author in 1993 through the latest developments and demonstration programs. The future outlook for USV technology is also described.}, 
keywords={marine vehicles;mobile robots;remotely operated vehicles;MTS/IEEE OCEANS 2008 Conference;Oceanic Engineering Society;autonomous surface craft;marine operations;unmanned surface vehicles;Marine technology;Marine vehicles;Navigation;Oceanic Engineering Society;Paper technology;Remotely operated vehicles;Rivers;Sea measurements;Sea surface;Testing}, 
doi={10.1109/OCEANS.2008.5152052}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Manley2010Wave, 
author={J. Manley and S. Willcox}, 
booktitle={OCEANS 2010 IEEE - Sydney}, 
title={The Wave Glider: A persistent platform for ocean science}, 
year={2010}, 
pages={1-5}, 
abstract={The Wave Glider is an unmanned maritime vehicle (UMV) unique in its ability to harness ocean wave energy for platform propulsion. This paper provides an overview of the Wave Glider vehicle's design and capabilities, and presents results from the engineering sea trials conducted with several prototype and the current production generations of the vehicle. The vehicle's performance in a variety of ocean conditions is described. The vehicle's robustness and capabilities for extended mission durations are also examined. Scientific applications of the Wave Glider are presented through discussion of preliminary results and planned programs. Finally, we discuss several payload packages that have been or are currently being developed for the vehicle.}, 
keywords={ocean waves;oceanographic techniques;propulsion;prototypes;remotely operated vehicles;underwater vehicles;Wave Glider;ocean science;ocean wave energy;platform propulsion;prototype;unmanned maritime vehicle;vehicle design;Acoustics;Oceans;Payloads;Propulsion;Robots;Sensors;Vehicles}, 
doi={10.1109/OCEANSSYD.2010.5603614}, 
month={May},}

@INPROCEEDINGS{Manley2016Unmanned, 
author={J. E. Manley and G. Hine}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Unmanned Surface Vessels (USVs) as tow platforms: Wave Glider experience and results}, 
year={2016}, 
pages={1-5}, 
abstract={The Wave Glider is a unique wave and solar energy powered Unmanned Surface Vessel (USV). Its two-part design makes it well suited for towing instruments at depth. Deploying a towed payload from a Wave Glider results in a three body, two tether, configuration. Technical considerations for towing payloads include: Drag, Mass, Buoyancy, Power and Communications. These challenges can be managed through a variety of engineering approaches. To wing payloads behind a Wave Glider provides excellent isolation from surface and mechanical noise. It also provides a persistent, long-endurance, option for sensor deployment. Numerous applications have been demonstrated using towed bodies behind Wave Gliders. In fisheries research the Wave Glider has been used to tow a multi-frequency echosounder designed to detect biomass. Gateway missions have used a towbody to deploy acoustic modems. This has supported numerous applications, including geophysical research. Results from these projects have validated the utility of both towed sensors and the Wave Glider platform.}, 
keywords={marine vehicles;mobile robots;oceanographic equipment;oceanographic techniques;remotely operated vehicles;solar power;sonar;wave power generation;Wave Glider platform;acoustic modem;biomass detection;buoyancy;communication;drag;gateway mission;geophysical research;instrument towing;mechanical noise;multifrequency echosounder;persistent long-endurance sensor deployment;solar energy powered USV;surface noise;tow platform;towed sensor;towing payload;unmanned surface vessels;wave energy powered USV;Aquaculture;Logic gates;Payloads;Sea surface;Surface acoustic waves}, 
doi={10.1109/OCEANS.2016.7761234}, 
month={Sept},}

@article{Cruz2007Zarco,
title={Zarco - an autonomous craft for underwater surveys},
author={Cruz, Nuno and Matos, An{\'\i}bal and Cunha, S{\'e}rgio and da Silva, S{\'e}rgio Oliveira},
journal={7th Geomatic Week},
year={2007}
}

@article{Maqueda2016Water,
author={M. A. Morales Maqueda and N. T. Penna and S. D. P. Williams and P. R. Foden and I. Martin and J. Pugh},
title={Water Surface Height Determination with a GPS Wave Glider: A Demonstration in Loch Ness, Scotland},
journal={Journal of Atmospheric and Oceanic Technology},
volume={33},
number={6},
pages={1159-1168},
year={2016},
doi={10.1175/JTECH-D-15-0162.1},
URL={https://doi.org/10.1175/JTECH-D-15-0162.1},
eprint={https://doi.org/10.1175/JTECH-D-15-0162.1},
abstract={ AbstractA geodetic GPS receiver has been installed on a Wave Glider, an unmanned water surface vehicle. Using kinematic precise point positioning (PPP) GPS, which operates globally without directly requiring reference stations, surface heights are measured with ~0.05-m precision. The GPS Wave Glider was tested in Loch Ness, Scotland, by measuring the gradient of the loch’s surface height. The experiment took place under mild weather, with virtually no wind setup along the loch and a wave field made mostly of ripples and wavelets. Under these conditions, the loch’s surface height gradient should be approximately equal to the geoid slope. The PPP surface height gradient and that of the Earth Gravitational Model 2008 geoid heights do indeed agree on average along the loch (0.03 m km−1). Also detected are 1) ~0.05-m-sized height changes due to daily water pumping for hydroelectricity generation and 2) high-frequency (0.25–0.5 Hz) oscillations caused by surface waves. The PPP heights compare favorably (~0.02-m standard deviation) with relative carrier phase–based GPS processing. This suggests that GPS Wave Gliders have the potential to autonomously determine centimeter-precise water surface heights globally for lake modeling, and also for applications such as ocean modeling and geoid/mean dynamic topography determination, at least for benign surface states such as those encountered during the reported experiment.}}

@INPROCEEDINGS{Marques2015Critical, 
author={F. Marques and A. Lourenço and R. Mendonça and E. Pinto and P. Rodrigues and P. Santana and J. Barata}, 
booktitle={OCEANS 2015 - Genova}, 
title={A critical survey on marsupial robotic teams for environmental monitoring of water bodies}, 
year={2015}, 
pages={1-6}, 
abstract={A robust maintenance of ecosystems demands for highly accurate and frequent monitoring of their status. The extension and remoteness of some environments renders their human-based monitoring extremely difficult. Riverine environments are a notorious example, as their sampling requires to bear into account both streams and riverbanks. The relevance of monitoring riverine environments is magnified by the intricate interactions that occur between river waters and coastal waters. This article provides a critical survey of existing solutions using robots for environmental monitoring of water bodies. Based on the survey, this article argues that autonomous robotic marsupial systems are especially adequate for the tasks at hand. Lessons learned, as well as future avenues on the application of marsupial robotic teams to environmental monitoring, are laid out in this article.}, 
keywords={ecology;environmental monitoring (geophysics);robots;surveying;autonomous robotic marsupial systems;coastal waters;critical survey;ecosystems;environmental monitoring;marsupial robotic teams;river waters;water bodies;Environmental monitoring;Robot kinematics;Robot sensing systems;Sea surface;Vehicles}, 
doi={10.1109/OCEANS-Genova.2015.7271737}, 
month={May},}

@INPROCEEDINGS{Marques2015REX, 
author={M. M. Marques and A. Martins and A. Matos and N. Cruz and J. M. Almeida and J. C. Alves and V. Lobo and E. Silva}, 
booktitle={OCEANS 2015 - MTS/IEEE Washington}, 
title={REX 2014 - Robotic Exercises 2014 multi-robot field trials}, 
year={2015}, 
pages={1-6}, 
abstract={Today there are different teams specializing in different areas such as shipwrecked rescue, searching for mines, environmental monitoring, border surveillance, traffic control, search and rescue and harbor protecting. Robotic systems and unmanned vehicles can provide additional capabilities and new innovative solutions that contribute to these applications. This paper presents the Robotic Exercises 2014 (REX'14) and the lessons learned with various field experiments performed with multiple unnamed systems in the context of the Portuguese Navy concept of operations. During the REX'2014 multiple experiments and systems were operated. Autonomy and environment characterization and assessment missions were performed with autonomous surface vehicles such as the ROAZ autonomous surface vehicle or with autonomous underwater vehicle MARES. Autonomy and system validation was performed for fast water jet propelled surface systems such as the SWIFT autonomous surface vehicle and the ICARUS unmanned rescue capsule, wind propulsion tests were also performed with unnamed surface vehicles and new maritime wireless communication protocols were tested.}, 
keywords={marine control;military vehicles;multi-robot systems;remotely operated vehicles;ICARUS unmanned rescue capsule;MARES autonomous underwater vehicle;Portuguese Navy operations concept;ROAZ autonomous surface vehicle;SWIFT autonomous surface vehicle;maritime wireless communication protocols;multi-robot field trials;robotic exercises;robotic systems;unmanned vehicles;wind propulsion test;Europe;Propulsion;Robots;Sea surface;Sonar;Sonar navigation;Vehicles;Search and Rescue;Sidescan Sonar;Unmanned Vehicles}, 
doi={10.23919/OCEANS.2015.7404497}, 
month={Oct},}

@INPROCEEDINGS{Marques2016Use,
author={M. M. Marques and R. Parreira and V. Lobo and A. Martins and A. Matos and N. Cruz and J. M. Almeida and J. C. Alves and E. Silva and J. Będkowski and K. Majek and M. Pełka and P. Musialik and H. Ferreira and A. Dias and B. Ferreira and G. Amaral and A. Figueiredo and R. Almeida and F. Silva and D. Serrano and G. Moreno and G. De Cubber and H. Balta and H. Beglerović},
booktitle={OCEANS 2016 - Shanghai},
title={Use of multi-domain robots in search and rescue operations; Contributions of the ICARUS team to the euRathlon 2015 challenge},
year={2016},
volume={},
number={},
pages={1-7},
abstract={Today, in our landscape perception exists a gap that needs to be fulfilled. It's important to increase the coverage, temporal and spatial resolution in order to cover this gap, as well as reduce costs with human resources that usually take this kind of tasks. Unmanned Autonomous vehicles with their inherent autonomy and reduced needs of human and communication resources, can provide additional capabilities and a new innovative solution to this problem This paper presents and describes the participation of ICARUS Team at euRathlon 2015 and the importance of this type of events performed with multiple unnamed systems.},
keywords={cost reduction;image resolution;multi-robot systems;remotely operated vehicles;rescue robots;robot vision;ICARUS team;cost reduction;euRathlon 2015;human resources;landscape perception;multidomain robots;search and rescue operations;spatial resolution;temporal resolution;unmanned autonomous vehicles;Cameras;Interoperability;Robot sensing systems;Standards;Three-dimensional displays;Vehicles;Interoperability;Search and Rescue;Unmanned Vehicles},
doi={10.1109/OCEANSAP.2016.7485354},
ISSN={},
month={April},}

@inproceedings{Martins2007Roaz,
title={Roaz and Roaz II Autonomous Surface Vehicle Design and Implementation},
author={Martins, Alfredo and Ferreira, Hugo and Almeida, Carlos and Silva, Hugo and Almeida, Jos{\'e} Miguel and Silva, Eduardo},
booktitle={International Lifesaving Congress 2007},
year={2007},
abstract={The design and implementation of the ROAZ and ROAZ II autonomous surface vehicles (ASV) is presented. These systems were developed at Autonomous Systems Lab, ISEP/IPP – Instituto Superior de Engenharia do Porto under a research program in marine robotics. With multiple applications either in river and estuarine environments or in the sea, the system applications in search and rescue operations are addressed and were taken in consideration for the overall system design. Mechanical design issues are discussed. Hardware, software and implementation status are described along with the control and navigation system architecture. The real time vision processing system is described and results are presented in operational scenario.}
}

@INPROCEEDINGS{Martins2013Field, 
author={A. Martins and A. Dias and J. Almeida and H. Ferreira and C. Almeida and G. Amaral and D. Machado and J. Sousa and P. Pereira and A. Matos and V. Lobo and E. Silva}, 
booktitle={2013 OCEANS - San Diego}, 
title={Field experiments for marine casualty detection with autonomous surface vehicles}, 
year={2013}, 
pages={1-5}, 
abstract={In this paper we present a set of field tests for detection of human in the water with an unmanned surface vehicle using infrared and color cameras. These experiments aimed to contribute in the development of victim target tracking and obstacle avoidance for unmanned surface vehicles operating in marine search and rescue missions. This research is integrated in the work conducted in the European FP7 research project Icarus aiming to develop robotic tools for large scale rescue operations. The tests consisted in the use of the ROAZ unmanned surface vehicle equipped with a precision GPS system for localization and both visible spectrum and IR cameras to detect the target. In the experimental setup, the test human target was deployed in the water wearing a life vest and a diver suit (thus having lower temperature signature in the body except hands and head) and was equipped with a GPS logger. Multiple target approaches were performed in order to test the system with different sun incidence relative angles. The experimental setup, detection method and preliminary results from the field trials performed in the summer of 2013 in Sesimbra, Portugal and in La Spezia, Italy are also presented in this work.}, 
keywords={Global Positioning System;autonomous underwater vehicles;cameras;target tracking;European FP7 research project Icarus;GPS logger;GPS system;La Spezia;Portugal;ROAZ unmanned surface vehicle;Sesimbra;autonomous surface vehicles;color camera;field experiments;human detection;infrared camera;marine casualty detection;marine rescue missions;marine search missions;obstacle avoidance;robotic tools;victim target tracking;visible spectrum;Cameras;Image color analysis;Object detection;Ocean temperature;Robots;Sea surface;Vehicles}, 
doi={10.23919/OCEANS.2013.6741348}, 
ISSN={0197-7385}, 
month={Sept},}

@ARTICLE{MAS2014Dynamic,
author={I. Mas and C. A. Kitts},
journal={IEEE Access},
title={Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation},
year={2014},
volume={2},
number={},
pages={558-570},
abstract={The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.},
keywords={mobile robots;multi-robot systems;position control;remotely operated vehicles;Jacobian transpose controller;autonomous surface vessels;cluster space dynamic model;generalized cluster space forces;land rovers;mobile multirobot systems;nonlinear model-based partition controller;robot-level forces;Aerospace electronics;Computational modeling;Control systems;Mobile communication;Mobile robots;Monitoring;Multi-robot systems;Robot sensing systems;Robots;Cluster space;dynamic control;formation control;marine robotics;multirobot systems},
doi={10.1109/ACCESS.2014.2325742},
ISSN={},
month={},}

@INPROCEEDINGS{Matias2015High,
author={B. Matias and H. Oliveira and J. Almeida and A. Dias and H. Ferreira and A. Martins and E. Silva},
booktitle={OCEANS 2015 - Genova},
title={High-accuracy low-cost RTK-GPS for an unmannned surface vehicle},
year={2015},
volume={},
number={},
pages={1-4},
abstract={This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.},
keywords={autonomous underwater vehicles;oceanographic techniques;software libraries;ICARUS search and rescue case;RTKlib open source software library;high-accuracy low-cost RTK-GPS;mission scenarios;moving base scenario;multiple robotic vehicles;standard low cost L1 band receivers;unmannned surface vehicle;Accuracy;Global Positioning System;Receivers;Robots;Sea measurements;Sea surface;Vehicles},
doi={10.1109/OCEANS-Genova.2015.7271673},
ISSN={},
month={May},}

@INPROCEEDINGS{Matos2013Development,
author={A. Matos and E. Silva and N. Cruz and J. C. Alves and D. Almeida and M. Pinto and A. Martins and J. Almeida and D. Machado},
booktitle={2013 OCEANS - San Diego},
title={Development of an Unmanned Capsule for large-scale maritime search and rescue},
year={2013},
volume={},
number={},
pages={1-8},
abstract={This paper describes the development and testing of a robotic capsule for search and rescue operations at sea. This capsule is able to operate autonomously or remotely controlled, is transported and deployed by a larger USV into a determined disaster area and is used to carry a life raft and inflate it close to survivors in large-scale maritime disasters. The ultimate goal of this development is to endow search and rescue teams with tools that extend their operational capability in scenarios with adverse atmospheric or maritime conditions.},
keywords={disasters;marine accidents;marine control;marine safety;marine vehicles;remotely operated vehicles;rescue robots;unmanned capsule;large-scale maritime search and rescue;robotic capsule development;robotic capsule testing;search and rescue operations;autonomous control;remote control;USV;life raft;large-scale maritime disasters;search and rescue teams;operational capability;atmospheric conditions;maritime conditions;Robots;Global Positioning System;Springs;Vehicles;Sensors;Batteries},
doi={10.23919/OCEANS.2013.6741340},
ISSN={0197-7385},
month={Sep.},}

@INPROCEEDINGS{Matos2016Multiple, 
author={A. Matos and A. Martins and A. Dias and B. Ferreira and J. M. Almeida and H. Ferreira and G. Amaral and A. Figueiredo and R. Almeida and F. Silva}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Multiple robot operations for maritime search and rescue in euRathlon 2015 competition}, 
year={2016}, 
pages={1-7}, 
abstract={This paper presents results of the INESC TEC participation in the maritime environment (both at surface and underwater) integrated in the ICARUS team in the euRathlon 2015 robotics search and rescue competition. These relate to the marine robots from INESC TEC, surface (ROAZ USV) and underwater (MARES AUV) autonomous vehicles participation in multiple tasks such as situation assessment, underwater mapping, leak detection or victim localization. This participation was integrated in the ICARUS Team resulting of the EU funded project aimed to develop robotic tools for large scale disasters. The coordinated search and rescue missions were performed with an initial surface survey providing data for AUV mission planning and execution. A situation assessment bathymetry map, sidescan sonar imaging and location of structures, underwater leaks and victims were achieved, with the global ICARUS team (involving sea, air and land coordinated robots) participating in the final grand Challenge and achieving the second place.}, 
keywords={SLAM (robots);autonomous underwater vehicles;multi-robot systems;rescue robots;sonar imaging;AUV mission execution;AUV mission planning;ICARUS team;INESC TEC participation;MARES AUV;ROAZ USV;large scale disasters;leak detection;marine robots;maritime environment;maritime search-and-rescue;multiple robot operations;robotic tools;sidescan sonar imaging;situation assessment bathymetry map;surface autonomous vehicles;underwater autonomous vehicles;underwater mapping;victim localization;Inspection;Navigation;Robot kinematics;Sea surface;Sonar;Vehicles}, 
doi={10.1109/OCEANSAP.2016.7485707}, 
month={April},}

@inbook{Matos2017Unmanned,
author={Anibal Matos and Eduardo Silva and José Almeida and Alfredo Martins and Hugo Ferreira and Bruno Ferreira and José Alves and André Dias and Stefano Fioravanti and Daniele Bertin and Victor Lobo},
month={August},
pages={77-92},
year={2017},
chapter={5},
title={Unmanned Maritime Systems for Search and Rescue},
booktitle={Search and Rescue Robotics},
publisher={IntechOpen},
DOI={10.5772/intechopen.69492},
url={https://www.intechopen.com/books/search-and-rescue-robotics-from-theory-to-practice/unmanned-maritime-systems-for-search-and-rescue},
abstract={The development of maritime unmanned tools for search and rescue operations is not a trivial task. A great part of maritime unmanned systems developed did not target such application, being more focused on environmental monitoring, surveillance or defence. In opposition to these applications, search and rescue operations need to take into account relevant issues such as the presence of people or other vessels on the water. Building upon user requirements and overall integrated components for assisted rescue and unmanned search operations (ICARUS) system architecture, this chapter addresses the development of unmanned maritime systems. It starts with an overview of the approach where a two‐tier solution was adopted to address safety issues and then proceeds to detail each of the 
developed technologies.},
keywords={unmanned marine systems;unmanned surface vehicles},}

@INPROCEEDINGS{Matsuno2004Rescue, 
author={F. Matsuno and S. Tadokoro}, 
booktitle={2004 IEEE International Conference on Robotics and Biomimetics}, 
title={Rescue Robots and Systems in Japan}, 
year={2004}, 
pages={12-20}, 
abstract={Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "special project for earthquake disaster mitigation in urban areas" (5 years project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the great Hanshin earthquake, in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, the problem domain of earthquake disasters and search and rescue processes is clarified with introducing an overview of this project}, 
keywords={disasters;earthquakes;intelligent robots;service robots;earthquake disaster mitigation;intelligent rescue systems;rescue robots;search and rescue task;Cities and towns;Earthquakes;Educational technology;Frequency;Humans;Intelligent robots;Large-scale systems;Service robots;Storms;Urban areas}, 
doi={10.1109/ROBIO.2004.1521744}, 
month={Aug},}

@Inbook{Matsuno2014Utilization,
author="Matsuno, Fumitoshi
and Sato, Noritaka
and Kon, Kazuyuki
and Igarashi, Hiroki
and Kimura, Tetsuya
and Murphy, Robin",
editor="Yoshida, Kazuya
and Tadokoro, Satoshi",
title="Utilization of Robot Systems in Disaster Sites of the Great Eastern Japan Earthquake",
bookTitle="Field and Service Robotics: Results of the 8th International Conference",
year="2014",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="1--17",
abstract="In this paper, we report our activities in the real disaster areas damaged by the Great Eastern Japan Earthquake. From March 18–21, 2011, we tried to apply a ground rescue robot to the real disaster sites at Aomori Prefecture and Iwate Prefecture. On March 18, we carried out inspection mission in a damaged gymnasium. From March 19–21, we went to other sites to identify possibility of usage of robots, and we found the potential needs for not only ground robots but also underwater robots. Then, after the first activity we established a joint United States-Japanese team for underwater search. From April 19–23, 2011 the joint team brought four ROVs to Miyagi Prefecture for port inspection and to Iwate Prefecture for searching for submerged bodies. The joint team returned to Miyagi Prefecture October 22–26 with an AUV and two ROVs for cooperative debris mapping needed to assist with resuming fishing. Based on these experiences, we discuss the effectiveness and problems of applying the rescue robot in the real disaster sites.",
isbn="978-3-642-40686-7",
doi="10.1007/978-3-642-40686-7_1",
url="http://dx.doi.org/10.1007/978-3-642-40686-7_1"
}

@article{Matthew2016Systems,
author={Davis Matthew and Proctor Michael and Shageer Buder},
title={A Systems-Of-Systems Conceptual Model and Live Virtual Constructive Simulation Framework for Improved Nuclear Disaster Emergency Preparedness, Response, and Mitigation},
Journal={Journal of Homeland Security and Emergency Management},
volume={13},
number={3},
pages={367-393},
year={2016},
ISSN={21946361},
doi={10.1515/jhsem-2015-0051},
url={www.degruyter.com/view/j/jhsem.2016.13.issue-3/jhsem-2015-0051/jhsem-2015-0051.xml},
}

@techreport{Maurer2014TEDUSAR,
title="TEDUSAR White Book - State of the Art in Search and Rescue Robots",
author="Johannes Maurer and Gerald Steinbauer and Peter Lepej and Suzana Uran",
year="2014",
institution="Institute of Software Technology, Graz University of Technology",
}

@INPROCEEDINGS{Mazumdar2009Mag-Foot,
author={A. Mazumdar and H. H. Asada},
booktitle={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Mag-Foot: A steel bridge inspection robot},
year={2009},
volume={},
number={},
pages={1691-1696},
abstract={A legged robot that moves across a steel structure is developed for steel bridge inspection. Powerful permanent magnets imbedded in each foot allow the robot to hang from a steel ceiling powerlessly. Although the magnets are passive, the attractive force is modulated by tilting the foot against the steel surface. This allows the robot to slide its feet along the surface using ¿Moonwalk¿ and ¿Shuffle¿ gait patterns. The robot can also detach its feet and swing them over small obstacles. These diverse walking patterns are created with a single servoed joint and 2 sets of simple locking mechanisms. Kinematic and static conditions are obtained for the under-actuated legged robot to perform each gait pattern safely and stably. A proof-of-concept prototype robot is designed, built, and tested. Experiments demonstrate the feasibility of the design concept and verify the analytical results.},
keywords={bridges (structures);inspection;legged locomotion;Mag-Foot;Moonwalk gait pattern;Shuffle gait pattern;kinematic condition;permanent magnets;simple locking mechanism;static condition;steel bridge inspection robot;underactuated legged robot;Bridges;Foot;Inspection;Kinematics;Legged locomotion;Magnetic modulators;Permanent magnets;Prototypes;Robots;Steel;Field robotics;optimal control;underactuated systems},
doi={10.1109/IROS.2009.5354599},
ISSN={2153-0858},
month={Oct},}

@INPROCEEDINGS{McGillivary2012Integrating, 
author={P. McGillivary and J. Borges de Sousa and R. Martins and K. Rajan and F. Leroy}, 
booktitle={2012 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies}, 
year={2012}, 
pages={1-5}, 
abstract={Global initiatives are underway to establish Ocean Observing Systems (OOS) that can provide society better information on ocean conditions. These observatories include moorings, drifters, floats, and buoyancy gliders. Although gliders have long operational endurance, their reliance on batteries limits sensors payloads, thus some OOS also include autonomous underwater vehicles (AUVs) with active propulsion. In some observatories AUVs can recharge their batteries at underwater docking stations connected to shore by cables. However AUVs can also be recharged from autonomous surface vessels (ASVs) such as the WaveGlider, whose propulsion is provided by wave action, and payload power supplied by solar panels. In addition to this function, as components of OOS, ASVs can collect data and act as communication nodes for data from bottom moorings, gliders and AUVs. Unmanned air vehicle systems (UAS) may perform the same role. The problem of networking these heterogeneous systems is discussed along with tools and technologies for adaptive ocean sampling. A vision is outlined to build a portable mobile observatory for OOS which can be deployed anywhere, anytime, that relies on a mix of human-in-the-loop and fully autonomous computational technology.}, 
keywords={aerospace control;autonomous aerial vehicles;autonomous underwater vehicles;marine control;mobile robots;telerobotics;ASV;AUV;OOS;UAS;WaveGlider;adaptive ocean sampling;integrating autonomous underwater vessels;ocean observing studies;operational endurance;persistent surveillance components;portable mobile observatory;sensors payloads;solar panels;surface aircraft;surface vessels;underwater docking stations;unmanned air vehicle systems;wave action;Adaptive systems;Marine vehicles;Modems;Protocols;Sea surface;Surveillance;adaptive sampling;autonomous surface vehicle;autonomous underwater vehicle;delay-tolerant networking;ocean observing system;unmanned aircraft system}, 
doi={10.1109/AUV.2012.6380734}, 
ISSN={1522-3167}, 
month={Sept},}

@mastersthesis{Mefford2012Investigation,
title={An investigation of control methods for port and harbor inspection using an underactuated autonomous surface vehicle},
author={Mefford, Jonathon Gregory},
keywords={unmanned surface vehicles, unmanned port security vessel},
month={Dec},
year={2012},
publisher={University of Hawaii at Manoa},
abstract={Unmanned surface vehicles (USVs) are a technology of increasing importance within the military, scientific, and commercial communities. The use of these vehicles ranges all the way from hydrological and bathymetric surveying to port and harbor defense and security. Increasingly, these systems are becoming more autonomous and equipped for a wider variety of tasks. Work in recent years has explored using these platforms for disaster response and recovery, as well as port and harbor inspection after natural disasters and catastrophic events. In cases such as these it is of great importance that the platform being used has an array of robust navigational capabilities.
This thesis presents the development of a basic lumped-parameter model for the Unmanned Port Security Vessel (UPSV), an autonomous platform for inspecting ports and harbors. This model is used to refine basic control methods such as heading and velocity, as well as line following control techniques. The line of sight (LOS) control algorithm, a very common technique for line following, is presented as well as a new method of line following control called the Alpha line following technique. These control methods are implemented in simulation and the effects of varying system parameters are reported. Further comparison of these control techniques is made through experimental results obtained from field surveys. Finally, the model is validated through comparison of the experimental data to simulations conducted using the same mission inputs. The overall capability of the model and the line following control techniques is discussed.},
url={http://hdl.handle.net/10125/100848},
}

@INPROCEEDINGS{Melo2008Guidance, 
author={J. Melo and A. Matos}, 
booktitle={OCEANS 2008}, 
title={Guidance and control of an ASV in AUV tracking operations}, 
year={2008}, 
pages={1-7}, 
abstract={The following addresses the control of an autonomous surface vehicle (ASV) to follow the trajectory made by an autonomous underwater vehicle (AUV) when the last is performing any given pre-programmed mission. In fact, it has been proved to be of great interest to have an ASV that could follow on the surface and even catch up the trajectory performed by the AUV, when executing a given mission. In order to achieve this desired coordinated motion between AUV and ASV, it would make sense just to program each of the vehicles with the same mission. However, due to the nature of vehicles, missions and also due to the localization system used, with this kind of solution some problems would arise, namely related with timings and synchronization, which are indeed difficult to overcome. The solution proposed here tries to estimate the AUV position, by tapping the signals exchanged between the former and each of the beacons of the acoustic localization network, and control and actuate the ASV in accordance.}, 
keywords={acoustic signal detection;mobile robots;position control;remotely operated vehicles;synchronisation;tracking;underwater vehicles;ASV;AUV tracking;acoustic localization network;autonomous surface vehicle control;autonomous surface vehicle guidance;beacon;synchronization;trajectory control;Mobile robots;Navigation;Remotely operated vehicles;Robot kinematics;Robotics and automation;Sea surface;Timing;Trajectory;Underwater tracking;Underwater vehicles}, 
doi={10.1109/OCEANS.2008.5152003}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Mendonca2013Kelpie, 
author={R. Mendon\c{c}a and P. Santana and F. Marques and A. Louren\c{c}o and J. Silva and J. Barata}, 
booktitle={2013 IEEE International Conference on Systems, Man, and Cybernetics}, 
title={Kelpie: A ROS-Based Multi-robot Simulator for Water Surface and Aerial Vehicles}, 
year={2013}, 
pages={3645-3650}, 
abstract={Testing and debugging real hardware is a time consuming task, in particular for the case of aquatic robots, for which it is necessary to transport and deploy the robots on the water. Performing waterborne and airborne field experiments with expensive hardware embedded in not yet fully functional prototypes is a highly risky endeavour. In this sense, physics-based 3D simulators are key for a fast paced and affordable development of such robotic systems. This paper contributes with a modular, open-source, and soon to be freely online available, ROS-based multi-robot simulator specially focused for aerial and water surface vehicles. This simulator is being developed as part of the RIVERWATCH experiment in the ECHORD european FP7 project. This experiment aims at demonstrating a multi-robot system for remote monitoring of riverine environments.}, 
keywords={autonomous aerial vehicles;control system analysis computing;digital simulation;marine vehicles;multi-robot systems;ECHORD European FP7 project;Kelpie;RIVERWATCH experiment;ROS-based multirobot simulator;aerial vehicles;airborne field experiment;aquatic robots;multirobot system;physics-based 3D simulators;real hardware debugging;real hardware testing;remote monitoring;riverine environments;water surface vehicles;waterborne field experiment;Computational modeling;Force;Robot sensing systems;Surface waves;Vehicles;Multi-Robots;Physics-Based Simulation;ROS;Unmanned Aerial Vehicles;Unmanned Surface Vehicles}, 
doi={10.1109/SMC.2013.621}, 
ISSN={1062-922X}, 
month={Oct},}

@INPROCEEDINGS{Mendonca2016Cooperative, 
author={R. Mendonça and M. M. Marques and F. Marques and A. Lourenço and E. Pinto and P. Santana and F. Coito and V. Lobo and J. Barata}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={A cooperative multi-robot team for the surveillance of shipwreck survivors at sea}, 
year={2016}, 
pages={1-6}, 
abstract={The sea as a very extensive area, renders difficult a pre-emptive and long-lasting search for shipwreck survivors. The operational cost for deploying manned teams with such proactive strategy is high and, thus, these teams are only reactively deployed when a disaster like a shipwreck has been communicated. To reduce the involved financial costs, unmanned robotic systems could be used instead as background surveillance teams patrolling the seas. In this sense, a robotic team for search and rescue (SAR) operations at sea is presented in this work. Composed of an Unmanned Surface Vehicle (USV) piggybacking a watertight Unmanned Aerial Vehicle (UAV) with vertical take-off and landing capabilities, the proposed cooperative system is capable of search, track and provide basic life support while reporting the position of human survivors to better prepared manned rescue teams. The USV provides long-range transportation of the UAV and basic survival kits for victims. The UAV assures an augmented perception of the environment due to its high vantage point.}, 
keywords={cooperative systems;emergency management;marine accidents;multi-robot systems;remotely operated vehicles;surveillance;augmented perception;background surveillance teams;basic life support;cooperative multirobot team;cooperative system;disaster;operational cost reduction;sea patrol;sea surveillance;search and rescue operations;shipwreck survivors;unmanned robotic systems;unmanned surface vehicle;watertight unmanned aerial vehicle;Cameras;Robot sensing systems;Sea surface;Unmanned aerial vehicles;Visualization}, 
doi={10.1109/OCEANS.2016.7761074}, 
month={Sept},}

@article{Mercado2016Intelligent,
author={Joseph E. Mercado and Michael A. Rupp and Jessie Y. C. Chen and Michael J. Barnes and Daniel Barber and Katelyn Procci},
title={Intelligent Agent Transparency in Human–Agent Teaming for Multi-UxV Management},
journal={Human Factors},
volume={58},
number={3},
pages={401-415},
year={2016},
doi={10.1177/0018720815621206},
note ={PMID: 26867556},
URL={http://dx.doi.org/10.1177/0018720815621206},
eprint={http://dx.doi.org/10.1177/0018720815621206},
abstract={ Objective:We investigated the effects of level of agent transparency on operator performance, trust, and workload in a context of human–agent teaming for multirobot management.Background:Participants played the role of a heterogeneous unmanned vehicle (UxV) operator and were instructed to complete various missions by giving orders to UxVs through a computer interface. An intelligent agent (IA) assisted the participant by recommending two plans—a top recommendation and a secondary recommendation—for every mission.Method:A within-subjects design with three levels of agent transparency was employed in the present experiment. There were eight missions in each of three experimental blocks, grouped by level of transparency. During each experimental block, the IA was incorrect three out of eight times due to external information (e.g., commander’s intent and intelligence). Operator performance, trust, workload, and usability data were collected.Results:Results indicate that operator performance, trust, and perceived usability increased as a function of transparency level. Subjective and objective workload data indicate that participants’ workload did not increase as a function of transparency. Furthermore, response time did not increase as a function of transparency.Conclusion:Unlike previous research, which showed that increased transparency resulted in increased performance and trust calibration at the cost of greater workload and longer response time, our results support the benefits of transparency for performance effectiveness without additional costs.Application:The current results will facilitate the implementation of IAs in military settings and will provide useful data to the design of heterogeneous UxV teams. }
}

@inproceedings{Messina2006Performance,
author={Messina, Elena and Jacoff, Adam},
title={Performance standards for urban search and rescue robots},
journal={Proc. SPIE},
volume={6230},
number={},
pages={62301V-62301V-12},
abstract={In this paper, we describe work in performance standards for urban search and rescue (USAR) robots begun in 2004 by the Department of Homeland Security. This program is being coordinated by the National Institute of Standards and Technology and will result in consensus standards developed through ASTM International, under the Operational Equipment Subcommittee of their Homeland Security Committee. The first phase of the program involved definition of requirements by subject matter experts. Responders participated in a series of workshops to identify deployment categories for robots, performance categories, and ranges of acceptable or target performance in the various categories. Over one hundred individual requirements were identified, within main categories such as Human-System Interaction, Logistics, Operating Environment, and System (which includes Chassis, Communications, Mobility, Payload, Power, and Sensing). To ensure that the robot developers and eventual end users work closely together, "responders meet robots" events at situationally relevant sites are being held to refine and extend the performance requirements and develop standard test methods. The results of these standard performance tests will be captured in a compendium of existing and developmental robots with classifications and descriptors to differentiate particular robotic capabilities. This, along with ongoing efforts to categorize situational USAR constraints such as building collapse types or the presence of hazardous materials, will help responders match particular robotic capabilities to response needs. In general, these efforts will enable responders to effectively use robotic tools to enhance their effectiveness while reducing risk to personnel during disasters.},
year={2006},
doi={10.1117/12.663320},
URL={ http://dx.doi.org/10.1117/12.663320},
eprint={}
}

@TECHREPORT{Messina2006Standards,
  title={Standards for visual acuity},
  author={Messina, Elena and Llc, JME and Consulting, KT},
  journal={National Institute for Standards and Technology},
  year={2006},
  publisher={Citeseer}
}

@INPROCEEDINGS{Messina2007Measuring, 
author={E. R. Messina and A. S. Jacoff}, 
booktitle={2007 IEEE Conference on Technologies for Homeland Security}, 
title={Measuring the Performance of Urban Search and Rescue Robots}, 
year={2007}, 
pages={28-33}, 
abstract={The Department of Homeland Security is sponsoring development of standards for urban search and rescue (USAR) robots. This program is being coordinated by the National Institute of Standards and Technology and will result in consensus standards developed through ASTM International. Robot deployment categories and performance requirements have been identified by emergency responders, These requirements are being translated into tests and metrics with which to measure the performance of robots. Several test methods have been entered into the standards process. Three major exercises have been held at US&R training facilities, in which responders work side-by-side with robot manufacturers to experiment with robot deployments in relevant scenarios and to refine and expand performance requirements. To date, over forty robots, including ground, aerial, and aquatic, have been involved. Supporting projects are developing an ontology of robot capabilities and situational constraints. In general, these efforts will enable responders to enhance their effectiveness while reducing risk to personnel during disasters through use of robotic assets.}, 
keywords={mobile robots;service robots;ASTM International;Department of Homeland Security;National Institute of Standards and Technology;US&R training facilities;urban search and rescue robots;Manufacturing;Measurement standards;Mobile robots;NIST;Refining;Robot kinematics;Robot sensing systems;Standards development;Terrorism;Testing}, 
doi={10.1109/THS.2007.370015}, 
month={May},}

@INPROCEEDINGS{Meyer-Gutbrod2012Long, 
author={E. Meyer-Gutbrod and C. H. Greene and A. Packer and H. Dorn and J. Griffith}, 
booktitle={2012 Oceans}, 
title={Long term autonomous fisheries survey utilizing active acoustics}, 
year={2012}, 
pages={1-5}, 
abstract={Rising costs of ship time and increasing budgetary constraints limit current fisheries acoustic survey practices. The limited spatial coverage and relative infrequency of such surveys compromise their value to fisheries managers. The Liquid Robotics Wave Glider allows scientists to collect data in a wider range of weather conditions and using fewer man-hours than typical shipboard acoustic surveys while operating at a greatly reduced cost. As part of an NSF-sponsored research project, Cornell University, BioSonics, Inc. and Liquid Robotics collaborated to design and manufacture a custom tow-body containing a specially modified dual-frequency BioSonics echosounder with 70-kHz and 200-kHz transducers. The tow body was attached to the submerged glider unit of a Liquid Robotics Wave Glider with a compliant tow cable to provide mechanical isolation between the Wave Glider and the tow body. Liquid Robotics conducted a series of tests in Kealakekua Bay, Hawaii, during March 2011 and March 2012 with the goal of evaluating the ability of the system to detect the mesopelagic boundary community's (MBC) offshore to onshore and upward vertical migration. The system was shown to be an effective method for collecting high-quality acoustic data for studying patterns in the distribution and migration of marine organisms. It also holds great promise for applications oriented towards continuous assessment of commercial fish stocks and the monitoring of marine ecosystem health.}, 
keywords={aquaculture;costing;ecology;industrial robots;Hawaii;Kealakekua Bay;NSF-sponsored research project;acoustic survey practices;active acoustics;budgetary constraints;commercial fish stocks;dual-frequency BioSonics echosounder;frequency 200 kHz;frequency 70 kHz;liquid robotics wave glider;long term autonomous fisheries;marine ecosystem health monitoring;marine organisms;mechanical isolation;mesopelagic boundary community;ship time cost;weather conditions;Acoustics;Liquids;Marine animals;Oceans;Robots;Transducers;Vehicles;Operational oceanography;acoustic survey;bioacoustics;biomass;fisheries acoustics;vehicle autonomy}, 
doi={10.1109/OCEANS.2012.6405100}, 
ISSN={0197-7385}, 
month={Oct},}

@incollection{Micallef2011Chapter,
title="Chapter Thirteen - Marine Geomorphology: Geomorphological Mapping and the Study of Submarine Landslides",
editor="Mike J. Smith and Paolo Paron and James S. Griffiths",
series="Developments in Earth Surface Processes",
publisher="Elsevier",
volume="15",
pages="377 - 395",
year="2011",
booktitle="Geomorphological Mapping",
issn="0928-2025",
doi="https://doi.org/10.1016/B978-0-444-53446-0.00013-6",
url="http://www.sciencedirect.com/science/article/pii/B9780444534460000136",
author="Aaron Micallef",
keywords="Submarine landslides, submarine mapping, acoustic data collection and interpretation, GIS, Storegga Slide, Ormen Lange gas field",
abstract="Submarine landslides constitute a geohazard to humans and their infrastructures. Recent studies, supported by the rapid advances in seafloor mapping technology, have shown that submarine landslides are important geological processes in terms of their widespread occurrence, their size and the volume of sediment they displace. Submarine mass movement processes are, however, poorly understood. The investigation of submarine landslides still presents a challenge to marine geomorphologists today because of their large scale and inaccessibility. The type of information on submarine landslides that is available to the marine geoscientist is generally morphological and acquired remotely. For these reasons, geomorphological mapping has become an important tool in the study of submarine landslides. In this chapter, I review the methods used by marine geomorphologists to generate geomorphological maps of submarine landslides, assess the characteristics of these maps and suggest ways in which they can be improved. I will also demonstrate the utility of geomorphological mapping in assessing the risk associated with an offshore gas field development and in improving our understanding of submarine landslide dynamics in the Storegga Slide off the Norwegian coast."
}


@article{Micire2008Evolution,
  title={Evolution and field performance of a rescue robot},
  author={Micire, Mark J},
  journal={Journal of Field Robotics},
  volume={25},
  number={1},
  pages={17},
  year={2008}
}

@INPROCEEDINGS{Miranda2013Homing, 
author={M. Miranda and P. P. Beaujean and E. An and M. Dhanak}, 
booktitle={2013 OCEANS - San Diego}, 
title={Homing an unmanned underwater vehicle equipped with a DUSBL to an unmanned surface platform: A feasibility study}, 
year={2013}, 
pages={1-10}, 
abstract={The overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary platform first is presented in this paper. Inherently, the DUSBL-APS is susceptible to error due to the physical phenomena of the underwater acoustic channel (e.g. ambient noise, attenuation and ray refraction). The development of an APS homing simulator model has allowed the authors to forecast the UUV's position and the estimated track line of the USV as determined by the DUSBL acoustic sensor. The model also provides the associated cross-track (horizontal), down-range (vertical), and along-range (projected) body-fixed errors to be expected in discrete periods of time for any sound velocity profile. In this model, focus is placed on three main elements: 1) the acoustic channel and sound ray refraction when propagating in an in-homogeneous medium; 2) the detection component of an ideal DUSBL-APS using the Neyman-Pearson criterion; 3) the signal-to-noise ratio (SNR) and receiver directivity impact on position estimation. The simulation tool is compared against actual open water homing results in terms of the estimated source position between the simulated and the actual USBL range and bearing information.}, 
keywords={autonomous underwater vehicles;oceanographic techniques;position control;underwater acoustic communication;APS homing simulator model;DUSBL acoustic sensor;DUSBL-APS;Hydroid REMUS 100 UUV;Neyman-Pearson criterion;SNR;USV;acoustic positioning system;ambient noise;attenuation;docking;hydroid digital ultrashort baseline;position estimation;receiver directivity impact;signal-to-noise ratio;sound ray refraction;sound velocity profile;underwater acoustic channel;unmanned surface vehicle;unmanned underwater vehicle;wave-adaptive modular surface vehicle;Acoustics;Educational institutions;Receivers;Signal to noise ratio;Transponders;Vehicles;USBL;docking;homing;underwater acoustics positioning;underwater navigation;unmanned surface vehicle;unmanned underwater vehicle}, 
doi={10.23919/OCEANS.2013.6741227}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Miskovic2014Unmanned, 
author={N. Mi\v{s}kovi\'{c} and S. Bogdan and \dh. Na\dh and F. Mandi\'{c} and M. Orsag and T. Haus}, 
booktitle={22nd Mediterranean Conference on Control and Automation}, 
title={Unmanned marsupial sea-air system for object recovery}, 
year={2014}, 
pages={740-745}, 
abstract={This paper presents preliminary results obtained from a cooperative heterogeneous system consisting of an unmanned surface marine vehicle (USV) and an unmanned aerial vehicle (UAV). The envisioned scenario for this marsupial system is unmanned recovery of objects floating at the sea surface. The specific mission that is addressed in this paper includes the following phases: coarse approach where the USV approaches the object area using navigation filter based on GPS measurements; fine approach where the UAV tracking the USV sends relative distances between the USV and the object which is visible in the UAV's field of view; and tugging where the USV takes the object to safety after the initial contact has been achieved. The paper describes the ROS-based control architecture, presents simulation results, and addresses control issues related to obtaining measurements from two sources with different variances.}, 
keywords={Global Positioning System;autonomous aerial vehicles;autonomous underwater vehicles;GPS measurements;ROS-based control architecture;UAV tracking;cooperative heterogeneous system;marsupial system;navigation filter;object recovery;unmanned aerial vehicle;unmanned marsupial sea-air system;unmanned recovery;unmanned surface marine vehicle;Mathematical model;Navigation;Robot kinematics;Sea surface;Surges;Vehicles}, 
doi={10.1109/MED.2014.6961462}, 
month={June},}

@INPROCEEDINGS{Miskovic2013Guidance,
author={N. Mi\v{s}kovi\'{c} and  \dh. Na\dj and N. Stilinovi\'{c} and Z. Vuki\'{c}},
booktitle={21st Mediterranean Conference on Control and Automation},
title={Guidance and control of an overactuated autonomous surface platform for diver tracking},
year={2013},
volume={},
number={},
pages={1280-1285},
abstract={The high-risk nature of SCUBA diving activities is usually dealt with by pairing up divers and adopting well defined rules for diving operations to reduce the chance of accidents. However, during more challenging dives (such as technical dives) these procedures may not be sufficient to ensure almost accident-free operations, for the divers must manoeuvre in complex 3D environments, carry cumbersome equipment, and focus attention on operational details. Technological advancement and research related to diver safety, navigation and monitoring has been identified as crucial for advancing diving activities. This paper reports current state of research performed at UNIZG-FER related to an autonomous overactuated surface platform used for following divers and transmitting GPS signal to the underwater. The implemented guidance and control algorithms are described and simulations obtained on realistic models developed in the ROS environment are provided. Special attention is given to algorithms for diver tracking by using measurements from a USBL. Diver motion estimators are used to improve the performance of the sparse and noisy USBL measurements. The results presented in this paper are a starting point for in-the-field experiments expected to take place in the real-world environment.},
keywords={autonomous underwater vehicles;Global Positioning System;marine accidents;marine safety;motion control;motion estimation;path planning;tracking;SCUBA diving activities;divers pairing;diving operations;technical dives;accident-free operations;diver manoeuvre;complex 3D environments;technological advancement;diver safety;diver navigation;diver monitoring;UNIZG-FER;autonomous overactuated surface platform;GPS signal transmission;underwater;guidance and control algorithm;ROS environment;diver tracking;diver motion estimators;sparse USBL measurements;noisy USBL measurements;Mathematical model;Surges;Vectors;Kinematics;Tracking;Resource management;Feedforward neural networks},
doi={10.1109/MED.2013.6608884},
ISSN={},
month={June},}

@ARTICLE{Miskovic2015Tracking,
author={N. Nikola Mi\v{s}kovi\'{c} and \dh. Na\dj and I. Rendulic},
journal={IEEE Robotics Automation Magazine},
title={Tracking Divers: An Autonomous Marine Surface Vehicle to Increase Diver Safety},
year={2015},
volume={22},
number={3},
pages={72-84},
abstract={Diving is a high-risk activity due to the hazardous environment, dependence on technical equipment for life support, complexity of underwater navigation, and limited monitoring from the surface. This article describes a new concept of using an autonomous surface vehicle (ASV) as a private satellite that tracks divers, thus significantly increasing diving safety. Since the vehicle is above the diver at all times, acoustic communication with the diver interface in the form of an underwater tablet is more efficient and robust, which enhances diver navigation and enables reliable monitoring from the surface. This article focuses on a diver-tracking control structure that uses a diver motion estimator to determine diver position, even in cases when acoustic position measurements are not available.},
keywords={hazardous areas;marine vehicles;monitoring;object tracking;diver tracking;autonomous marine surface vehicle;diver safety;hazardous environment;life support;underwater navigation;underwater tablet;monitoring;acoustic position measurements;Acoustics;Modems;Bluetooth;Robots;Vehicles;Safety;Global Positioning System},
doi={10.1109/MRA.2015.2448851},
ISSN={1070-9932},
month={Sep.},}

@article{Miskovic2016CADDY,
title = "CADDY Project, Year 2: The First Validation Trials",
journal = "IFAC-PapersOnLine",
volume = "49",
number = "23",
pages = "420 - 425",
year = "2016",
note = "10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016",
issn = "2405-8963",
doi = "https://doi.org/10.1016/j.ifacol.2016.10.440",
url = "http://www.sciencedirect.com/science/article/pii/S2405896316320286",
author = "Nikola Mi\v{s}kovi\'{c} and Antonio Pascoal and Marco Bibuli and Massimo Caccia and Jeffrey A. Neasham and Andreas Birk and Murat Egi and Karl Grammer and Alessandro Marroni and Antonio Vasilijevi\v{c} and Zoran Vuki\v{c}",
keywords = "Autonomous, remotely operated (surface and underwater) marine vessels, Cooperative navigation, control, Guidance, navigation, control (GNC) of unmanned marine vehicles (surface and underwater)",
abstract = {CADDY - Cognitive Autonomous Diving Buddy is an FP7 project that that is devoted to developing a cognitive underwater robotic system that will help divers during their activities in this hazardous environment. The envisioned resulting system will play a threefold role similar to those that a human buddy diver should have: buddy \"observer\", buddy \"slave\", and buddy "guide". During the second year of the project, validation trials were organized in Croatia with the purpose of testing all developed algorithms that will enable the three roles of the CADDY system. The trials were structured in five experiments. This paper is devoted to providing a concise overview of the conducted experiments and major results.}
}


@INPROCEEDINGS{Miskovic2017CADDY,
author={N. Mi\v{s}kovi\'{c} and A. Pascoal and M. Bibuli and M. Caccia and J. A. Neasham and A. Birk and M. Egi and K. Grammer and A. Marroni and A. Vasilijevi\'{c} and $\eth$. Na\dj and Z. Vuki\'{c}},
booktitle={OCEANS 2017 - Aberdeen},
title={CADDY project, year 3: The final validation trials},
year={2017},
volume={},
number={},
pages={1-5},
abstract={This paper described the basic concept behind the second and final validation trials of the Cognitive Autonomous Diving Buddy (CADDY) system. The CADDY system is composed of three components: autonomous surface vehicle (ASV), an autonomous underwater vehicle (AUV) named BUDDY, and a diver. CADDY aims to establish an innovative setup between a diver and companion autonomous robots (underwater and surface) that exhibit cognitive behaviour by adapting to diver's physical state, and actions, thereby improving overall diving experience by assisting the diver. Although certain problems were encountered during trials, the collected data and experience were valuable to identify potential improvements. Most importantly, divers felt safe and comfortable working and interacting with a robotic BUDDY thus achieving the primary goal.},
keywords={autonomous underwater vehicles;cognition;mobile robots;CADDY project;final validation trials;CADDY system;autonomous surface vehicle;diver;companion autonomous robots;robotic BUDDY;autonomous underwater vehicle;cognitive autonomous diving buddy system;cognitive behaviour;Surface treatment;Navigation;Robots;Acoustics;Boats;Europe},
doi={10.1109/OCEANSE.2017.8084715},
ISSN={},
month={June},}



@INPROCEEDINGS{Mohamed2008Middleware, 
author={N. Mohamed and J. Al-Jaroodi and I. Jawhar}, 
booktitle={2008 IEEE Conference on Robotics, Automation and Mechatronics}, 
title={Middleware for Robotics: A Survey}, 
year={2008}, 
pages={736-742}, 
abstract={The field of robotics relies heavily on various technologies such as mechatronics, computing systems, and wireless communication. Given the fast growing technological progress in these fields, robots can offer a wide range of applications. However real world integration and application development for such a distributed system composed of many robotic modules and networked robotic devices is very difficult. Therefore, middleware services provide a novel approach offering many possibilities and drastically enhancing the application development for robots. This paper surveys the current state of middleware approaches in this domain. It discusses middleware challenges in these systems and presents some representative middleware solutions specifically designed for robots. The selection of the studied methods tries to cover most of the middleware platforms, objectives and approaches that have been proposed by researchers in this field.}, 
keywords={control engineering computing;middleware;robot programming;computing systems;distributed system;mechatronics;middleware services;networked robotic devices;robotics;wireless communication;Mechatronics;Medical robotics;Middleware;Mobile robots;Orbital robotics;Robot sensing systems;Robot vision systems;Sensor arrays;Space technology;Wireless communication;middleware;robot system integration;robots}, 
doi={10.1109/RAMECH.2008.4681485}, 
ISSN={2158-2181}, 
month={Sept},}

@INPROCEEDINGS{Molchanov2015Active, 
author={A. Molchanov and A. Breitenmoser and G. S. Sukhatme}, 
booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Active drifters: Towards a practical multi-robot system for ocean monitoring}, 
year={2015}, 
pages={545-552}, 
abstract={We propose a method for controlling multiple active drifters in the presence of external forcing induced by the ocean. Our active drifters have one actuator: they can lower and raise their drogues in depth. By exploiting the vertically stratified nature of ocean currents, we show how classical multi-robot tasks (spreading out and aggregation) can be accomplished by the multi-drifter system. Tests with a realistic simulation based on an ocean model suggest that a practical implementation of active drifters which aggregate and disperse in the coastal ocean could be realized through our control method with relatively inexpensive components. Specifically, we are able to show that over a 90 day deployment a significant fraction of drifters can be made to aggregate in few clusters suitable for recovery.}, 
keywords={actuators;mobile robots;multi-robot systems;planetary oceans;active drifter;actuator;coastal ocean;drogue;multidrifter system;multirobot system;ocean monitoring;Current measurement;Force;Read only memory;Sea measurements;Sea surface}, 
doi={10.1109/ICRA.2015.7139232}, 
ISSN={1050-4729}, 
month={May},}

@article{Mollica2004Mental,
title="Mental health in complex emergencies ",
journal="The Lancet ",
volume="364",
number="9450",
pages="2058 - 2067",
year="2004",
note="",
issn="0140-6736",
doi="https://doi.org/10.1016/S0140-6736(04)17519-3",
url="http://www.sciencedirect.com/science/article/pii/S0140673604175193",
author="RF Mollica and B Lopes Cardozo and HJ Osofsky and B Raphael and A Ager and P Salama",
abstract="Summary Mental health is becoming a central issue for public health complex emergencies. In this review we present a culturally valid mental health action plan based on scienti.c evidence that is capable of addressing the mental health effects of complex emergencies. A mental health system of primary care providers, traditional healers, and relief workers, if properly trained and supported, can provide cost-effective, good mental health care. This plan emphasises the need for standardised approaches to the assessment, monitoring, and outcome of all related activities. Crucial to the improvement of outcomes during crises and the availability to future emergencies of lessons learned from earlier crises is the regular dissemination of the results achieved with the action plan. A research agenda is included that should, in time, fill knowledge gaps and reduce the negative mental health effects of complex emergencies. "
}

@book{Moore1959Shortest,
  title={The shortest path through a maze},
  author={Moore, Edward F},
  year={1959},
  publisher={Bell Telephone System.}
}

@mastersthesis{Morris2015Automated,
title={Automated detection of submerged navigational obstructions in freshwater impoundments with hull mounted sidescan sonar},
author={Morris, Phillip A},
year={2015},
school={Southern Methodist University},
}


@article{Morten2012Marine,
title="Marine Vessel Path Planning \& Guidance Using Potential Flow",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="188 - 193",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00032",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312265",
author="Morten D. Pedersen and Thor I. Fossen",
keywords="Path planning",
keywords="Obstacle avoidance",
keywords="Marine systems",
keywords="Automatic control",
keywords="Potentials",
abstract="An efficient potential flow solver is applied to marine vessel path-planning for cluttered environments. The approach is computationally light. This is achieved by employing a simplified potential flow solution as well as generating the path online. The method relies on a simple guidance law that; (A)Regulates a target point to maintain a constant stream-function value, (B)Employ rudder control to steer a vessel towards this target. The utility of potential flow for path-planning is discussed. Simulation results are presented, showing the promise of the above approach."
}

@article{Motwani2012Survey,
title={A survey of uninhabited surface vehicles},
author={Motwani, Amit},
journal={Marine and Industrial Dynamic Analysis, Tech. Rep.},
institution={School of Marine Science and Engineering Plymouth University, Plymouth},
year={2012}
}

@inproceedings{Moud2018Current,
title={Current and Future Applications of Unmanned Surface, Underwater, and Ground Vehicles in Construction},
author={Moud, Hashem Izadi and Shojaei, Alireza and Flood, Ian},
booktitle={Construction Research Congress 2018, CRC 2018},
month={September},
year={2018},
abstract={For more than a decade, unmanned aerial vehicles (UAVs) have been used on construction job sites for a variety of purposes including structural inspection, and 3D mapping of the site and existing structures. Although the advantages that UAVs have brought to construction are discussed extensively in the literature, applications of other types of unmanned vehicles (UVs) in the construction industry, including unmanned ground vehicles (UGVs), unmanned surface vehicles (USVs) (operating on water surfaces), and unmanned underwater vehicles (UUVs), have received limited attention.
Although UAVs are the most frequently employed type of UVs in the construction industry, UGVs and USVs have also been involved in a few construction- related missions. These include search operations and structural damage assessment in the aftermath of disasters such as the World Trade Center in 2001, Fukushima Daiichi nuclear power plant in 2011, Hurricane Wilma in 2005 and Hurricane Ike in 2008. UGVs and USVs have rarely been used in any other type of construction-related application. Furthermore, there is no available data about construction-related applications of UUVs.
Recent advances in information technology and artificial intelligence have led to the design of autonomous UAVs, UGVs, USVs and UUVs that can operate without, or with little, human intervention in their missions. Advances in UVs and their automated control have resulted in commercially available prototypes of different types of UVs. This, in turn, has created an unexplored potential for the applications of a wide variety of UVs to construction. This paper reviews this potential specifically for USVs, UUVs and UGVs. The details of each mission, including application, UVs type and details of mission are described. The paper concludes with an identification of gaps in the current technology where developments are required before the full potential of USVs, UUVs, and UGVs can be achieved in construction.},
}

@INPROCEEDINGS{Moura2017Drone,
author={D. Moura and L. Guardalben and M. Luis and S. Sargento},
booktitle={2017 IEEE Globecom Workshops (GC Wkshps)},
title={A Drone-Quality Delay Tolerant Routing Approach for Aquatic Drones Scenarios},
year={2017},
volume={},
number={},
pages={1-7},
abstract={Drones in general have become increasingly popular, mainly due to its cost attractive and popularization. At this stage, drones' technology is providing a new set of applications and services specially in the field of aquatic drones which can be used for numerous applications (e.g, sea life localization and environmental monitoring, bridges inspection, sea border patrolling...). Most of the Earth surface is covered by water, and therefore, aquatic drones can become great assets in aquatic environment monitoring tasks. Thus, it is of crucial importance to guarantee a persistent and reliable communication network to assure the drones' self-control, as well as to make sure that environmental data collected from sensors can reach the fixed gateway placed ashore. In this work we propose a mechanism to calculate and assess the link quality between aquatic drones based on the signal strength, stability of the connection and its bandwidth. This quality evaluation mechanism is then integrated in the routing process of a Delay Tolerant Network (DTN) for an efficient transportation of data among the aquatic drones. Having the quality mechanism as baseline, three routing strategies were proposed: i) routing through the first neighboring contact, ii) routing through the best quality contact, and iii) routing through the best quality contact to the gateway. To evaluate the performance of the proposed routing strategies, a set of evaluations were performed using real aquatic scenarios with movement. The results have shown that the strategy "best quality contact to the gateway" presents the highest delivery ratio when compared to other routing strategies.},
keywords={delay tolerant networks;marine communication;radio links;telecommunication network reliability;telecommunication network routing;wireless sensor networks;aquatic drones scenarios;aquatic environment monitoring tasks;aquatic scenarios;delay tolerant network;drone-quality delay tolerant routing approach;link quality;quality contact;quality evaluation mechanism;routing strategies;sea border patrolling;signal strength;Bandwidth;Computer architecture;Delays;Drones;Logic gates;Routing;Task analysis},
doi={10.1109/GLOCOMW.2017.8269070},
ISSN={},
month={Dec},}

@techreport{Mueller2000Portable,
author={David S. Mueller and Mark N. Landers},
title={PORTABLE INSTRUMENTATION FOR REAL-TIME MEASUREMENT OF SCOUR AT BRIDGES},
year={2000},
publisher={Highway Administration Publication No. FHWA-RD-99-085, Turner-Fairbank Highway Research Center, McLean, VA},
abstract={Portable scour-measuring systems were developed to meet the requirements of three different applications: bridge inspections, limited-detail data collection, and detailed data collection. A portable scour-measuring system consists of four components: (a) the instrument(s) for making the measurement, (2) a system for deploying the instrument(s), (3) a method to identify and record the horizontal position of the data collected, and (4) a data-storage device. Commercially available instruments were evaluated for use in measuring scour at bridges during floods. The systems developed consist primarily of commercially available instruments, which were modified and interfaced to achieve the required functionality. The bridge-inspection system is intended for use by bridge inspectors to measure the streambed elevation around piers and abutments to ensure the stability of bridge foundations. The system developed and described here uses a low-cost echo sounder to measure the water depth and a tethered float to deploy the transducer around the bridge piers and abutments. Data are recorded on a chart-recording echo sounder or in a notebook if the echo sounder has only a graphical or numerical display. The U.S. Geological Survey has been collecting limited-detail data on scour at bridges for several years. The only additional development for limited-detail data collection was to use a float to deploy the transducer of an echo sounder, which allows data to be collected beneath the bridge and along the sides of the piers. The detailed data collection system allows collection of detailed channel bathymetry and hydraulic data at the bridge and in the approach and exit reaches. Channel geometry is measured using a digital echo sounder; three-dimensional velocity profiles are collected using a broadband acoustic Doppler current profiler (BB-ADCP); and the position of the data collected is measured using either a range-azimuth positioning system or a differential global positioning system. All data are transmitted to shore where they are stored on a field computer. Because of the spatial coverage required of detailed data, the instruments must be deployed from a boat. Although manned boats are frequently used on some streams, safety and access considerations, particularly on small streams, led to the development of a remote-control boat. The remote-control boat consists of a flat-bottom jon boat powered by an outboard engine with servos and switches mounted directly on the engine to allow control of the engine by use of standard recreational remote controls. All systems developed have been used successfully during major floods and allow data to be collected more efficiently and in more detail than was previously possible.},
institution={U.S. Department of Transportation, Federal Highway
Administration, U.S. Department of the Interior},
}

@article{Murphy2004Human,
title={Human-robot interaction in rescue robotics},
author={Murphy, Robin R},
journal={IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)},
volume={34},
number={2},
pages={138--153},
year={2004},
publisher={IEEE}
}

@article{Murphy2004Rescue,
author={Murphy, Robin R.},
title={Rescue Robotics for Homeland Security},
journal={Commun. ACM},
volume={47},
number={3},
month={Mar},
year={2004},
issn={0001-0782},
pages={66--68},
url={http://doi.acm.org/10.1145/971617.971648},
doi={10.1145/971617.971648},
publisher={ACM},
address={New York, NY, USA}
} 

@article{Murphy2004Trial,
title={Trial by fire [rescue robots]},
author={Murphy, Robin R},
journal={IEEE Robotics \& Automation Magazine},
volume={11},
number={3},
pages={50--61},
year={2004},
publisher={IEEE}
}

@article{Murphy2005Lessons,
title={Lessons learned on the uses of unmanned vehicles from the 2004 Florida hurricane season},
author={Murphy, R and Stover, S and Choset, H},
journal={AUVSI Unmanned Systems North America},
pages={27--29},
year={2005},
}

@article{Murphy2005Up,
author={Robin R. Murphy and Jennifer L. Burke},
title={Up from the Rubble: Lessons Learned about HRI from Search and Rescue},
journal={Proceedings of the Human Factors and Ergonomics Society Annual Meeting},
volume={49},
number={3},
pages={437-441},
year={2005},
doi={10.1177/154193120504900347},
URL={http://dx.doi.org/10.1177/154193120504900347},
eprint={http://dx.doi.org/10.1177/154193120504900347},
abstract={ The Center for Robot-Assisted Search and Rescue has collected data at three responses (World Trade Center, Hurricane Charley, and the La Conchita mudslide) and nine high fidelity field exercises. Our results can be distilled into four lessons. First, building situation awareness, not autonomous navigation, is the major bottleneck in robot autonomy. Most of the robotics literature assumes a single operator single robot (SOSR), while our work shows that two operators working together are nine times more likely to find a victim. Second, human-robot interaction should not be thought of how to control the robot but rather how a team of experts can exploit the robot as an active information source. The third lesson is that team members use shared visual information to build shared mental models and facilitate team coordination. This suggests that high bandwidth, reliable communications will be necessary for effective teamwork. Fourth, victims and rescuers in close proximity to the robots respond to the robot socially. We conclude with observations about the general challenges in human-robot interaction. }
}

@INPROCEEDINGS{Murphy2006Cooperative, 
author={R. Murphy and S. Stover and K. Pratt and C. Griffin}, 
booktitle={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={Cooperative Damage Inspection with Unmanned Surface Vehicle and Micro Unmanned Aerial Vehicle at Hurricane Wilma}, 
year={2006}, 
pages={9-9}, 
abstract={On Oct 24, 2005, Hurricane Wilma made landfall at Cape Romano, Florida. Two days later, the Center for Robot-Assisted Search and Rescue (CRASAR) deployed an iSENSYS helicopter and an unmanned surface vehicle to survey damage in parts of Marco Island, 11 miles from landfall. Assistance was provided by the National Science Foundation's industry/university cooperative research center on safety security rescue technologies. The AEOS-1 USV was prototype built for environmental science studies. It was modified to carry a Sound Metric Dual frequency IDentification SONar (DIDSON). The DIDSON was able to show the state of underwater structures, schools of small fish swimming, and find the railings from the collapsed section of a pier. This work validates the concept of using USVs and UAVs together for disaster response, suggests missions, and priorities for autonomy. Besides damage inspection, USV-UAV teams can find safe lanes of sea travel and to detect hazardous materials spills. In addition to providing situation awareness, the UAV can serve as a wireless network relay. Inspection of damage to seawalls, docks, and bridges requires vision above the waterline as well as below poses a new type of Simultaneous Localization and Mapping (SLAM).}, 
keywords={Helicopters;Hurricanes;Inspection;National security;Prototypes;Safety;Sea surface;Service robots;Simultaneous localization and mapping;Unmanned aerial vehicles}, 
doi={10.1109/IROS.2006.282304}, 
ISSN={2153-0858}, 
month={Oct},}

@INPROCEEDINGS{Murphy2006Field,
author={Murphy, Robin R. and Stover, Sam},
title={Field studies of  safety security rescue technologies through training and response activities},
booktitle={Proc. SPIE},
volume={6230},
number={},
pages={62300M-62300M-10},
abstract={This paper describes the field-oriented philosophy of the Institute for Safety Security Rescue Technology (iSSRT) and summarizes the activities and lessons learned during calendar year 2005 of its two centers: the Center for Robot-Assisted Search and Rescue and the NSF Safety Security Rescue industry/university cooperative research center. In 2005, iSSRT participated in four responses (La Conchita, CA, Mudslides, Hurricane Dennis, Hurricane Katrina, Hurricane Wilma) and conducted three field experiments (NJTF-1, Camp Hurricane, Richmond, MO). The lessons learned covered mobility, operator control units, wireless communications, and general reliability. The work has collectively identified six emerging issues for future work. Based on these studies, a 10-hour, 1 continuing education unit credit course on rescue robotics has been created and is available. Rescue robots and sensors are available for loan upon request.},
year={2006},
doi={10.1117/12.668919},
URL={ http://dx.doi.org/10.1117/12.668919},
eprint={}
}

@Inbook{Murphy2008Search,
author="Murphy, Robin R. and Tadokoro, Satoshi and Nardi, Daniele and Jacoff, Adam and Fiorini, Paolo and Choset, Howie and Erkmen, Aydan M.",
title="Search and Rescue Robotics",
bookTitle="Springer Handbook of Robotics",
year="2008",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="1151--1173",
isbn="978-3-540-30301-5",
doi="10.1007/978-3-540-30301-5_51",
url="http://dx.doi.org/10.1007/978-3-540-30301-5_51",
abstract="In order to summarize the status of rescue robotics, this chapter will cover the basic characteristics of disasters and their impact on robotic design, describe the robots actually used in disasters to date, promising robot designs (e.g., snakes, legged locomotion) and concepts (e.g., robot teams or swarms, sensor networks), methods of evaluation in benchmarks for rescue robotics, and conclude with a discussion of the fundamental problems and open issues facing rescue robotics, and their evolution from an interesting idea to widespread adoption. The Chapter will concentrate on the rescue phase, not recovery, with the understanding that capabilities for rescue can be applied to, and extended for, the recovery phase. The use of robots in the prevention and preparedness phases of disaster management are outside the scope of this chapter."
}

@article{Murphy2008Cooperative,
author={Murphy, Robin R. and Steimle, Eric and Griffin, Chandler and Cullins, Charlie and Hall, Mike and Pratt, Kevin},
title={Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma},
journal={Journal of Field Robotics},
volume={25},
number={3},
publisher={Wiley Subscription Services, Inc., A Wiley Company},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.20235},
doi={10.1002/rob.20235},
pages={164--180},
year={2008},
abstract={On Oct. 24, 2005, Hurricane Wilma, a category 5 storm, made landfall at Cape Romano, Florida. Three days later, the Center for Robot-Assisted Search and Rescue at the University of South Florida deployed an iSENYS helicopter and a prototype unmanned water surface vehicle, AEOS-1, to survey damage in parts of Marco Island, 14 km from landfall. The effort was the first known use of unmanned sea surface vehicles (USVs) for emergency response and established their suitability for the recovery phase of disaster management by detecting damage to seawalls and piers, locating submerged debris (moorings and handrails), and determining safe lanes for sea navigation. It provides a preliminary domain theory of postdisaster port and littoral inspection with unmanned vehicles for use by the human–robot interaction community. It was also the first known demonstration of the strongly heterogeneous USV–micro aerial vehicle (MAV) team for any domain. The effort identified cooperative UAV–USV strategies and open issues for autonomous operations near structures. The effort showed that the MAV provided a much-needed external view for situation awareness and provided spotting for areas to be inspected. Concepts of operations for USV damage inspection and USV–MAV cooperation emerged, including a formula for computing the human–robot ratio: Nh=(2 × Nv) + 1, where Nh is the number of humans and Nv is the number of vehicles. The outstanding research issues span three areas: challenges for USVs operating near littoral structures, general issues for USV–MAV cooperation, and new applications. It is expected that the lessons learned will be transferrable to defense and homeland safety and security applications, such as port security, and other phases of emergency response, including rescue. © 2008 Wiley Periodicals, Inc.},
}

@INPROCEEDINGS{Murphy2009Robot, 
author={R. R. Murphy and E. Steimle and M. Hall and M. Lindemuth and D. Trejo and S. Hurlebaus and Z. Medina-Cetina and D. Slocum},
booktitle={2009 IEEE International Workshop on Safety, Security Rescue Robotics (SSRR 2009)}, 
title={Robot-assisted bridge inspection after Hurricane Ike}, 
year={2009}, 
pages={1-5}, 
abstract={The Center for Robot-Assisted Search and Rescue (CRASAR) deployed the custom Sea-RAI man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified two key tasks in subsurface bridge inspection (mapping of the debris field and inspecting the bridge footings for scour), three research challenges (navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS), and possible improvements to human-robot interaction (having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and the inclusion of teleoperation as the backup mode for autonomy). An additional research question is the cooperative use of surface and underwater vehicles.}, 
keywords={bridges (structures);collision avoidance;mobile robots;remotely operated vehicles;telerobotics;underwater vehicles;Center for Robot-Assisted Search and Rescue;GPS;Hurricane Ike;Sea-RAI man-portable unmanned surface vehicle;VideoRay;autonomous YSI EcoMapper;human-robot interaction;robot-assisted bridge inspection;subsurface bridge inspection;teleoperation;underwater obstacle avoidance;underwater vehicles;Bridges;Global Positioning System;Hurricanes;Image analysis;Inspection;Mobile robots;Navigation;Remotely operated vehicles;Sea surface;Underwater vehicles;autonomous surface vehicle;rescue robotics;unmanned marine vehicles;unmanned underwater vehicle}, 
doi={10.1109/SSRR.2009.5424144}, 
ISSN={2374-3247}, 
month={Nov},}

@inproceedings{Murphy2009Use,
author = {Murphy, Robin and Steimle, Eric and Lindemuth, Michael and Trejo, David and Hall, M and Slocum, D and Hurlebaus, Stefan and Medina-Cetina, Z},
year = {2009},
month = {01},
pages = {783-790},
booktitle={AAS 2008},
title = {Use of unmanned marine vehicles for hurricane damage inspection},
volume = {2},
abstract={This paper describes the deployment of the custom Sea-RAI man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas, which was damaged during Hurricane Ike. The Sea-RAI successfully performed the two key tasks in subsurface bridge inspection using a DIDSON acoustic camera: mapping of the debris field and inspecting the bridge footings for scour. The deployment identified three challenges for unmanned marine vehicle control: navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS. The field work also illustrated the advantages of surface and underwater vehicles working cooperatively. Improvements for human-robot interaction were suggested, including having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and the inclusion of teleoperation as the backup mode for autonomy. The effort helps establish the domain of bridge inspection and the findings are expected to assist in the design and development of unmanned marine systems for littoral inspection.},
}

@inproceedings{Murphy2010Proposals,
author={Murphy, Robin R.},
title={Proposals for New UGV, UMV, UAV, and HRI Standards for Rescue Robots},
booktitle={Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop},
series={PerMIS '10},
year={2010},
isbn={978-1-4503-0290-6},
location={Baltimore, Maryland},
pages={9--13},
numpages={5},
url={http://doi.acm.org/10.1145/2377576.2377579},
doi={10.1145/2377576.2377579},
acmid={2377579},
publisher={ACM},
address={New York, NY, USA},
keywords={UAV, UGV, UMV, human-robot interaction, metrics, rescue robots}
} 

@inbook{Murphy2010Safe,
title={The safe human-robot ratio},
booktitle={Human-Robot Interactions in Future Military Operations}, 
author={Murphy, Robin R and Burke, Jennifer L and Barnes, M and Jentsch, F},
year={2010},
publisher={Ashgate, Burlington, VT}
}

@Article{Murphy2011Robot,
author="Murphy, Robin R. and Steimle, Eric and Hall, Michael and Lindemuth, Michael and Trejo, David and Hurlebaus, Stefan and Medina-Cetina, Zenon and Slocum, Daryl",
title="Robot-Assisted Bridge Inspection",
journal="Journal of Intelligent {\&} Robotic Systems",
year="2011",
volume="64",
number="1",
pages="77--95",
abstract="The Center for Robot-Assisted Search and Rescue (CRASAR®) deployed a customized AEOS man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified key tasks in subsurface bridge inspection (mapping of the debris field and inspecting the bridge footings for scour), control challenges (navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS), possible improvements to human-robot interaction (having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and increased state sensing for reliability), and discussed the cooperative use of surface, underwater, and aerial vehicles. The article posits seven milestones in the development of a fully functional UMV for bridge inspection: standardize mission payloads, add health monitoring, improve teleoperation through better human-robot interaction, add 3D obstacle avoidance, improve station-keeping, handle large data sets, and support cooperative sensing.",
issn="1573-0409",
doi="10.1007/s10846-010-9514-8",
url="http://dx.doi.org/10.1007/s10846-010-9514-8"
}

@INPROCEEDINGS{Murphy2011Use, 
author={R. R. Murphy and K. L. Dreger and S. Newsome and J. Rodocker and E. Steimle and T. Kimura and K. Makabe and F. Matsuno and S. Tadokoro and K. Kon}, 
booktitle={2011 IEEE International Symposium on Safety, Security, and Rescue Robotics}, 
title={Use of remotely operated marine vehicles at Minamisanriku and Rikuzentakata Japan for disaster recovery}, 
year={2011}, 
pages={19-25}, 
abstract={Three underwater remotely operated vehicles (ROVs) were used over a five day period to inspect critical infrastructure and to assist with victim search and recovery at six sites in the Iwate Prefecture following the Tohoku Earthquake and Tsunami. Unmanned marine vehicles have been used since 2004 for disaster recovery operations but in limited applications, in single areas, and in short deployment durations. The joint IRS-CRASAR deployment matched robots for missions specified by civilian municipalities and the Japanese Coast Guard. The ROVs successfully allowed a fishing port to be re-opened and searched for victims trapped underwater in five different locations in varying areas (marinas, bridge debris, and waterfront residential areas) that could not be searched by manual divers. From a scientific perspective, the deployment provides a corpus of 15 hours of data of how rescue robots can be used. It illustrates that rescue robots are i) valuable for both economic and victim recovery, not just response, ii) that disaster robots need to be optimized for the unique missions and stakeholder needs, and iii) that human-robot interaction remains a challenge. This paper also identifies new areas for research: computer vision and cognitive engineering, cyber-physical systems, heterogeneous multi-robot coordination, human-robot interaction, simulation and geographical information systems.}, 
keywords={disasters;earthquakes;marine vehicles;mobile robots;remotely operated vehicles;tsunami;IRS-CRASAR deployment matched robots;Japanese coast guard;Tohoku earthquake;civilian municipalities;cognitive engineering;computer vision;cyber-physical systems;disaster recovery operations;fishing port;geographical information systems;heterogeneous multirobot coordination;human-robot interaction;remotely operated marine vehicles;tsunami;underwater remotely operated vehicles;unmanned marine vehicles;victim search;Bridges;Hurricanes;Marine vehicles;Robot kinematics;Sonar;Vehicles}, 
doi={10.1109/SSRR.2011.6106798}, 
ISSN={2374-3247}, 
month={Nov},}

@INPROCEEDINGS{Murphy2012Decade,
author={R. R. Murphy},
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={A decade of rescue robots},
year={2012},
volume={},
number={},
pages={5448-5449},
abstract={This video offers a retrospective of the 26 disasters where land, marine, or aerial robots have been deployed, starting with the first use of rescue robots at the 2001 World Trade Center Collapse and continuing through the 2011 Tohoku Tsunami/Fukushima nuclear event. While robots have not found a living survivor, possibly because they arrive on average 4.5 days after the event, the video clips illustrate the contributions of robots to searching for survivors, reconnaissance and mapping, inspection of buildings, and inspection of bridges and shipping channels. The clips also highlight four open research questions: human-robot interaction, mobile manipulation, reliable wireless networks, and obstacle avoidance for UAVs and UMVs. Use of robots is accelerating and their contributions to disaster prevention, preparedness, response, and recovery will grow and lead to new challenges for research.},
keywords={aerospace robotics;collision avoidance;emergency services;human-robot interaction;mobile robots;service robots;Fukushima nuclear event;Tohoku Tsunami;UAV;UMV;World Trade Center Collapse;aerial robots;disaster prevention;disasters;human-robot interaction;land robots;marine robots;mobile manipulation;obstacle avoidance;reliable wireless networks;rescue robots;Bridges;Fuel processing industries;Hurricanes;Inspection;Robots;USA Councils;Vehicles},
doi={10.1109/IROS.2012.6386301},
ISSN={2153-0858},
month={Oct},}

@article {Murphy2012Marine,
author={Murphy, Robin R. and Dreger, Karen L. and Newsome, Sean and Rodocker, Jesse and Slaughter, Brian and Smith, Richard and Steimle, Eric and Kimura, Tetsuya and Makabe, Kenichi and Kon, Kazuyuki and Mizumoto, Hisashi and Hatayama, Michinori and Matsuno, Fumitoshi and Tadokoro, Satoshi and Kawase, Osamu},
title={Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery},
journal={Journal of Field Robotics},
volume={29},
number={5},
publisher={Wiley Subscription Services, Inc., A Wiley Company},
issn={1556-4967},
url={http://dx.doi.org/10.1002/rob.21435},
doi={10.1002/rob.21435},
pages={819--831},
year={2012},
}

@INPROCEEDINGS{Murphy2013Interacting, 
author={R. R. Murphy and V. Srinivasan and Z. Henkel and J. Suarez and M. Minson and J. C. Straus and S. Hempstead and T. Valdez and S. Egawa}, 
booktitle={2013 IEEE International Conference on Technologies for Homeland Security (HST)}, 
title={Interacting with trapped victims using robots}, 
year={2013}, 
pages={32-37}, 
abstract={The paper reports on a discovery field exercise used to examine how disaster responders can use an audio and video equipped robot to interact with a trapped victim. In the exercise, a small robot with two-way video and audio communication was inserted into a physically simulated building collapse next to a trapped victim, and was provided to a team of trained responders as a means for performing remote triage and victim monitoring. The interaction between the responders and the victim was examined, with emphasis on how the responders adapted to different video and audio capabilities, and how they might have responded to different populations and injuries that may limit communication. The ad hoc interaction protocols used by the responders were observed in the field exercise, and four interaction schemes were identified: Two-way Video with Two-way Audio, One-way Video (from Robot to Responders) with Two-way Audio, Two-way Video with no Audio, and One-way Video (from Robot to Responders) with no audio. The interaction schemes are defined according to the minimum capabilities of the robot and victim, the requirements of the responders, and preliminary protocols required for each interaction scheme. From observations made about the exercise, the paper identifies minimalistic interfaces and transparency of robot state as key areas for improving a robot-mediated interaction between responders and victims.}, 
keywords={audio signal processing;control engineering computing;emergency management;human-robot interaction;service robots;video communication;video signal processing;ad hoc interaction protocols;audio and video equipped robot;audio capability;disaster responders;discovery field exercise;interaction schemes;minimalistic interfaces;one-way video with no audio;one-way video with two-way audio;physically simulated building;remote triage;robot state transparency;robot-mediated interaction;robots;trained responders;trapped victims;two-way video and audio communication;two-way video with no audio;two-way video with two-way audio;victim monitoring;video capability;Feeds;Head;Robot vision systems;Webcams}, 
doi={10.1109/THS.2013.6698972}, 
month={Nov},}

@BOOK{Murphy2014Disaster, 
author={Robin R. Murphy}, 
booktitle={Disaster Robotics}, 
title={Disaster Robotics}, 
year={2014}, 
pages={240}, 
abstract={This book offers the definitive guide to the theory and practice of disaster robotics. It can serve as an introduction for researchers and technologists, a reference for emergency managers, and a textbook in field robotics. Written by a pioneering researcher in the field who has herself participated in fifteen deployments of robots in disaster response and recovery, the book covers theory and practice, the history of the field, and specific missions. After a broad overview of rescue robotics in the context of emergency informatics, the book provides a chronological summary and formal analysis of the thirty-four documented deployments of robots to disasters that include the 2001 collapse of the World Trade Center, Hurricane Katrina, the 2010 Haiti earthquake, the Deepwater Horizon oil spill, the 2011 Japanese earthquake and tsunami, and numerous mining accidents. It then examines disaster robotics in the typical robot modalities of ground, air, and marine, addressing such topics as robot types, missions and tasks, and selection heuristics for each modality. Finally, the book discusses types of fieldwork, providing practical advice on matters that include collecting data and collaborating with emergency professionals. The field of disaster robotics has lacked a comprehensive overview. This book by a leader in the field, offering a unique combination of the theoretical and the practical, fills the gap.}, 
publisher={MIT Press}, 
isbn={9780262321303}, 
url={http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6774245},
}

@INPROCEEDINGS{Murphy2016Two,
author={R. Murphy and J. Dufek and T. Sarmiento and G. Wilde and X. Xiao and J. Braun and L. Mullen and R. Smith and S. Allred and J. Adams and A. Wright and J. Gingrich},
booktitle={2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={Two case studies and gaps analysis of flood assessment for emergency management with small unmanned aerial systems},
year={2016},
volume={},
number={},
pages={54-61},
abstract={This paper documents the successful use of small unmanned aerial systems (SUAS) for two floods in Fort Bend County, Texas, and identifies gaps in informatics, manpower, human-robot interaction, and cost-benefit analysis. The case studies focus on how emergency managers can use SUAS for flood assessment including flood mapping and projection of impact, verification of flood inundation models, providing justification for publicly accountable decisions, and public information. The case studies are particularly informative because they were flown at the direction of County experts during two actual flood events and represent 21 flights over four days.},
keywords={autonomous aerial vehicles;emergency management;rescue robots;flood assessment;emergency management;small unmanned aerial systems;SUAS;human-robot interaction;cost-benefit analysis;informatics;manpower;Floods;Visualization;Data visualization;Image resolution;Robots;Emergency services;Unmanned aerial vehicles;disaster response;robotics;human-robot interaction},
doi={10.1109/SSRR.2016.7784277},
ISSN={},
month={Oct},}

@ARTICLE{Naeem2006Design,
author={W. Naeem and T. Xu and R. Sutton and J. Chudley},
affiliation={Sch. of Eng., Plymouth Univ.},
keywords={pollutant tracking;surveying capabilities;unmanned surface vehicle;Springer;unmanned catamaran;navigational sensors;fault tolerant multi-sensor data fusion;linear quadratic Gaussian control;},
language={English},
abstract={An unmanned catamaran named Springer is being developed by the Marine and Industrial Dynamic Analysis Research Group at the University of Plymouth to conduct environmental and geographical surveys in shallow waters. An equally important secondary role envisaged for Springer is as a platform for other marine research groups to test their own systems onboard the vehicle. This paper highlights Springer hardware and software architecture including various navigational sensors, speed controller and an environmental monitoring unit. Details regarding the development of a fault tolerant multi-sensor data fusion technique are also outlined. Moreover, control strategy based on a linear quadratic Gaussian with loop transfer recovery theory is presented which would be implemented in Springer for track keeping.},
title={Design of an unmanned catamaran with pollutant tracking and surveying capabilities},
journal={IET Conference Proceedings},
year={2006},
month={January},
pages={99-113(14)},
publisher ={Institution of Engineering and Technology},
url={http://digital-library.theiet.org/content/conferences/10.1049/ic_20060267}
}

@inproceedings{Naeem2006Modelling,
  title={Modelling and control of an unmanned surface vehicle for environmental monitoring},
  author={Naeem, Wasif and Sutton, Robert and Chudley, John},
  booktitle={UKACC International Control Conference},
  pages={1--6},
  year={2006}
}

@article{Naeem2007Experimental,
title="2007 RESULTS ON THE DEVELOPMENT OF A POLLUTANT TRACKING UNMANNED SURFACE VESSEL",
journal="IFAC Proceedings Volumes",
volume="40",
number="17",
pages="361 - 366",
year="2007",
note="",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20070919-3-HR-3904.00063",
url="http://www.sciencedirect.com/science/article/pii/S1474667015321224",
author="W Naeem and R Sutton and SK Sharma and GN Roberts",
keywords="Unmanned surface vehicle",
keywords="modelling",
keywords="system identification",
keywords="model predictive controller",
keywords="experimental results",
abstract="An unmanned surface vehicle (USV) named Springer has specifically been designed for the purpose of monitoring water pollutants and to track them to their sources. This paper presents the first set of experimental results of the USV which have recently been carried out at Roadford Reservoir, Devon, UK. An online genetic algorithm based model predictive controller (GA-MPC) has been utilised. The experiments were initially conducted using an umbilical attached to the vehicle as a means of transmitting controller demands to the motors. This was later removed and full autonomous tests were carried out and a comparison is made. A waypoint guidance strategy was also integrated with the GA- MPC autopilot and the vehicle was launched in a fully autonomous mode. The results shown demonstrate the capability of the autopilot to generate control demands in order to cope with external disturbances and modelling uncertainty."
}

@article{Naeem2012COLREGs,
title="COLREGs-based collision avoidance strategies for unmanned surface vehicles",
journal="Mechatronics",
volume="22",
number="6",
pages="669 - 678",
year="2012",
note="Special Issue on Intelligent Mechatronics (LSMS2010 \& ICSEE2010)",
issn="0957-4158",
doi="http://dx.doi.org/10.1016/j.mechatronics.2011.09.012",
url="http://www.sciencedirect.com/science/article/pii/S0957415811001553",
author="Wasif Naeem and George W. Irwin and Aolei Yang",
keywords="Unmanned surface vehicles",
keywords="Obstacle detection and avoidance",
keywords="Navigation",
keywords="Guidance and control",
keywords="Path planning",
abstract="The aim of this paper is to report the preliminary development of an automatic collision avoidance technique for unmanned marine craft based on standardised rules, COLREGs, defined by the International Maritime Organisation. It is noted that all marine surface vessels are required to adhere to COLREGs at all times in order to minimise or eliminate the risk of collisions. The approach presented is essentially a reactive path planning algorithm which provides feedback to the autopilot of an unmanned vessel or the human captain of a manned ship for steering the craft safely. The proposed strategy consists of waypoint guidance by line-of-sight coupled with a manual biasing scheme. This is applied to the dynamic model of an unmanned surface vehicle. A simple PID autopilot is incorporated to ensure that the vessel adheres to the generated seaway. It is shown through simulations that the resulting scheme is able to generate viable trajectories in the presence of both stationary and dynamic obstacles. Rules 8 and 14 of the COLREGs, which apply to the amount of manoeuvre and to a head-on scenario respectively are simulated. A comparison is also made with an offline or deliberative grid-based path planning algorithm which has been modified to generate COLREGs-compliant routes."
}

@INPROCEEDINGS{Nagatani2011Redesign, 
author={K. Nagatani and S. Kiribayashi and Y. Okada and S. Tadokoro and T. Nishimura and T. Yoshida and E. Koyanagi and Y. Hada}, 
booktitle={2011 IEEE International Symposium on Safety, Security, and Rescue Robotics}, 
title={Redesign of rescue mobile robot Quince}, 
year={2011}, 
pages={13-18}, 
abstract={On March 11, 2011, a massive earthquake and tsunami hit eastern Japan, particularly affecting the Tohoku area. Since then, the Fukushima Daiichi Nuclear Power Station has been facing a crisis. To respond to this crisis, we considered using our rescue robots for surveillance missions. Before delivering a robot to TEPCO (Tokyo Electric Power Company), we needed to solve some technical issues and add some functions to respond to this crisis. Therefore, we began a redesign project to equip the robot for disaster response missions. TEPCO gave us two specific missions. One was to explore the inside and outside of the reactor buildings to perform dose measurements. The other one was to sample contaminated water and install a water gauge in the basement of the reactor buildings. To succeed in the above two missions, we redesigned our mobile robot, Quince, and performed repeated operational test to improve it. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Station on June 20, 2011. In this paper, we will introduce the requirements for the above two missions and report how we fulfilled them.}, 
keywords={mobile robots;Fukushima Daiichi Nuclear Power Station;TEPCO;Tokyo Electric Power Company;contaminated water sample;disaster response missions;dose measurements;emergency response;nuclear accident;reactor buildings;rescue mobile robot Quince redesign;surveillance missions;water gauge;Buildings;Cameras;Inductors;Manipulators;Robot vision systems;Disaster response;Rescue robot}, 
doi={10.1109/SSRR.2011.6106794}, 
ISSN={2374-3247}, 
month={Nov},}

@INPROCEEDINGS{Nakatani2016ASV, 
author={T. Nakatani and T. Hyakudome and T. Sawa and Y. Nakano and Y. Watanabe and T. Fukuda and H. Matsumoto and R. Suga and H. Yoshida}, 
booktitle={2016 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={ASV MAINAMI for AUV monitoring and its sea trial}, 
year={2016}, 
pages={301-306}, 
abstract={JAMSTEC has proposed an operation of multiple AUVs using an ASV (Autonomous Surface Vehicle) to improve survey efficiency. For this purpose, an ASV “MAINAMI” with a length of 6 meters has been developed since 2013. The vehicle is equipped with an acoustic communication device and a satellite one, in order to relay information between an AUV and operators on a ship or on land. In February 2016, its sea trials were carried out at Suruga-Bay. The performance of its solo navigation was verified through the sea trial. And, the ASV succeeded in tracking of a deep-tow as a simulated curing-type AUV.}, 
keywords={autonomous underwater vehicles;mobile robots;telerobotics;ASV MAINAMI;AUV monitoring;JAMSTEC;acoustic communication device;autonomous surface vehicle;relay information;sea trial;Acoustic communication (telecommunication);Acoustic measurements;Navigation;Satellites;Target tracking;Trajectory;Vehicles;ASV;AUV;multi-vehicle operation;sea-trial}, 
doi={10.1109/AUV.2016.7778687}, 
month={Nov},}

@article{Naus2013Algorithm,
	abstract={This article presents the concept of algorithm A* functioning in a navigation system equipped with electronic navigational chart for autonomous planning the shortest and safest route crossing an offshore unmanned vehicle “Edredon”. The first part describes the general technical architecture and functionality of the vehicle's navigation system. In the second part shows in detail the modules of the system responsible for the planning of the road and how to implement them in the A* algorithm. The third part describes the proper operation of testing whether the A* algorithm in the navigation system, while the task of planning the route of the autonomous vehicle. Final part is a discussion of the results obtained from tests carried out in order to evaluate the applicability of the A* algorithm for route planning in autonomous navigation systems.},
	affiliation={Naval Academy ul. \'{S}midowicza 69, 81-103 Gdynia},
	author={Naus, K. and W\c{a}\.{z}, M.},
	journal={Zeszyty Naukowe / Akademia Morska w Szczecinie},
	keywords={A* algorithm; navigation system; route planning; electronic chart; vehicle Edredon},
	language={English},
	pages={143--147},
	title={The idea of using the A* algorithm for route planning an unmanned vehicle Edredon},
	volume={nr 36 (108) z. 2},
	year={2013},
}

@inproceedings{Nayak2013Integration,
title={Integration of GPS and GSM for Human Detection and Rescue in Water-Body, using an Intimation-Device and Robotic-Boat to provide Emergency Services to End-user},
author={Nayak, Gurudas C and Singh, Balbir and D'souza, Vijeth and D'Souza, Winston Rohan},
year={2013},
booktitle={Proceedings of 4th National Conference on Recent Trends in Communication Computation and Signal Processing (RTCSP-2013)},
publisher={ Manipal University Libraries},
}

@article{Neal2009Technologies,
  title={Technologies for autonomous sailing: wings and wind sensors},
  author={Neal, Mark and Sauz{\'e}, Colin and Thomas, Barry and Alves, Jos{\'e} C},
  journal={Proceedings of the 2nd IRSC, Matosinhos, Portugal, July},
  pages={6--12},
  year={2009}
}

@mastersthesis{Ng2012Feasibility,
author={Fuquan Ng},
title={FEASIBILITY OF USING LITTORAL COMBAT SHIPS (LCS) FOR HUMANITARIAN ASSISTANCE/DISASTER RELIEF (HA/DR) OPERATIONS},
month={September},
year={2012},
pages={85},
publisher={NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA},
abstract={This thesis addresses the feasibility of using Littoral Combat Ship (LCS) in conducting Humanitarian Assistance/Disaster Relief (HA/DR) operations and analyzes the suite of LCS mission packages in conducting HA/DR operations through a Systems Engineering study. The current preference for HA/DR operations is on using big  decks, e.g., Amphibious Ship and Aircraft Carriers to maximize the lift capability of supplies, such as medical supplies, food, and water. The trade-off of using big  decks instead of small ships such as the LCS is to forfeit speed and the ability to dock nearer to shore, yet having the fuel capacity to travel long distances, and also the capacity to carry large loads of supplies. The thesis focuses on two main areas. The first is to study the feasibility of the LCS to conduct HA/DR operations. The second is to study the HA/DR operations functional allocation, and propose possible Concepts of Operations (CONOPs) and mission package for the LCS to effectively carry out the operations.}}

@techreport{Nicholson2014Coastal,
title={Coastal Monitoring},
author={Heather Ann Nicholson},
publisher={AIAI},
institution={Allen Institute for Artifitial Intelligence},
year={2014},
url={https://www.semanticscholar.org/paper/Coastal-Monitoring-Nicholson/ab86ed6e4b572e873aab3c2e0b8e24d50239e2ba},
abstract={Coastal monitoring is just one of the many uses for information that has been gathered through hydrographic surveying techniques. Hydrographic surveying equipment has evolved from a simple graduated pole and sextant to state-of-the-art remote sensing techniques. As equipment has evolved and post processing techniques have been developed, accuracy has increased. },
}

@article{Nuta2015Development,
title="Development and Improvement of Technology in Emergency Response",
journal="Procedia Economics and Finance",
volume="32",
number="",
pages="603 - 609",
year="2015",
note="Emerging Markets Queries in Finance and Business 2014, EMQFB 2014, 24-25 October 2014, Bucharest, Romania",
issn="2212-5671",
doi="http://dx.doi.org/10.1016/S2212-5671(15)01438-0",
url="http://www.sciencedirect.com/science/article/pii/S2212567115014380",
author="Ionel Nu\c{t}\v{a} and Octavian Orban and Lucian Grigore",
keywords="General Inspectorate for Emergency Situations",
keywords="technical intervention",
keywords="fire",
keywords="autonomous robotic vehicles.",
abstract="The last time we witness extreme natural phenomena, plus technological accidents, weather situations, global warming, asymmetric non -classical actions of unknown nature, with influences immediate or direct or indirect, over the life of each human individual and the human society as a whole. All of these are causes emergency generators that produce large numbers of casualties and material damage scale. Prevention and emergency management is increasingly becoming an integral part of policy and strategy development, security and stability at all levels and in all areas of interest. In both fields the primary role plays the man who has to travel on site, analyse, and make decisions of life and death for solving emergencies. Unfortunately, no matter how well prepared it has its limits. The key to solving this problem lies in intelligent action coordinated between man and machine. Thus, there is need to undertake a technological bridge between people, machines and methods of intervention in emergencies. Therefore, research efforts in recent years have been focused mainly on the satisfaction of human needs replacement staff for the execution of high-risk missions in difficult environments with controlled accelerated progress in the field of mechatronics, optoelectronics, electronics computing power and allowed the market providing specialized technologies required to achieve this goal. One solution is the development of families of robots specialized for prevention and intervention, capable of movement in critical areas before the emergency to be unleashed and out of control, to save life and property or to obtain a detailed view transmitting data and information necessary human an effective response."
}

@INPROCEEDINGS{Oh2007Design,
author={J. K. Oh and A. Y. Lee and S. M. Oh and Y. Choi and B. J. Yi and H. W. Yang},
booktitle={2007 International Conference on Mechatronics and Automation},
title={Design and Control of Bridge Inspection Robot System},
year={2007},
volume={},
number={},
pages={3634-3639},
abstract={This paper proposes design and control methods for a bridge inspection robot system. A "bridge inspection robot" has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. Especially, this paper emphasizes the system integration method to design and control the entire robot system. As a result, this robot has both automatic and manual modes for inspecting a real bridge. In other words, the robot is automatically able to inspect beneath the bridges and manually to inspect them by long-distance user. Also, the users can see the operating conditions of long-distance robot with 3-dimensional graphical user interface. Moreover, the users can feel the operating status of long-distance robot through haptic device.},
keywords={bridges (structures);civil engineering computing;graphical user interfaces;haptic interfaces;inspection;maintenance engineering;mobile robots;3D graphical user interface;bridge inspection robot system design;bridge maintenance;bridge safety status;guide rail;haptic device;long-distance robot;Automatic control;Bridges;Control systems;Design methodology;Graphical user interfaces;Inspection;Rails;Robot control;Robotics and automation;Safety;Bridge Inspection robot;Haptic Device;PID Control;Tele-inspection},
doi={10.1109/ICMA.2007.4304150},
ISSN={2152-7431},
month={Aug},}

@book{Omerdic2009Marine,
  title={Marine Monitoring Platforms: Paradigms for Development in Ireland},
  author={Omerdic, Edin and Toal, Daniel and Wallace, John},
  year={2009},
  publisher={Cambridge Scholars Publishing}
}

@INPROCEEDINGS{OReilly2015Communications, 
author={T. C. O'Reilly and B. Kieft and M. Chaffey}, 
booktitle={OCEANS 2015 - Genova}, 
title={Communications relay and autonomous tracking applications for Wave Glider}, 
year={2015}, 
pages={1-6}, 
abstract={MBARI biological oceanographers make increasing use of mobile autonomous sensor platforms to observe dynamic phenomena, and require near real-time data in order to focus resources on rapidly evolving areas of interest. We have implemented a Wave Glider-based payload called Hot Spot that creates a disruption-tolerant communications network between shore and at-sea autonomous platforms. The Hot Spot uses multiple radio and acoustic modems and software to implement a store-and-forward network; the system reliably transfers data between the at-sea Wave Glider Hot Spot, Autonomous Underwater Vehicles (AUV's), benthic instrument packages, and computers on shore. Hot Spot achieves this reliability in an environment where communication links are often unpredictably disrupted. Onboard Hot Spot applications use these capabilities to acoustically determine the location of multiple underwater targets, and can autonomously direct the Wave Glider to follow a moving underwater object. We describe deployments during which Hot Spot quickly transferred science and engineering data between multiple vehicles and shore, and where the Wave Glider used its Hot Spot acoustic tracking application to autonomously follow a moving submerged AUV as part of a large biochemical science campaign.}, 
keywords={acoustic transducers;autonomous underwater vehicles;modems;oceanographic techniques;radio networks;relay networks (telecommunication);sensors;telecommunication network reliability;underwater acoustic communication;AUV;MBARI biological oceanographer;acoustic modem;autonomous tracking application;autonomous underwater vehicle;benthic instrument packaging;biochemical science campaign;communication relay;data transfer reliability;disruption-tolerant communication network;hot spot acoustic tracking application;mobile autonomous sensor platform;multiple radio;multiple underwater target;onboard hot spot application;store-and-forward network;submerged AUV;wave glider-based payload;Acoustics;Modems;Relays;Satellites;Sea surface;Surface waves;DTN;Wave Glider;acoustic tracking;communications;delay-tolerant networking}, 
doi={10.1109/OCEANS-Genova.2015.7271243}, 
month={May},}

@article{Oroza2013Design,
author={Carlos Oroza and Andrew Tinka and Paul K Wright and Alexandre M Bayen},
title={Design of a network of robotic Lagrangian sensors for shallow water environments with case studies for multiple applications},
journal={Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science},
volume={227},
number={11},
pages={2531-2548},
year={2013},
doi={10.1177/0954406213475947},
URL={http://dx.doi.org/10.1177/0954406213475947},
eprint={http://dx.doi.org/10.1177/0954406213475947},
abstract={ This article describes the design methodology for a network of robotic Lagrangian floating sensors designed to perform real-time monitoring of water flow, environmental parameters, and bathymetry of shallow water environments (bays, estuarine, and riverine environments). Unlike previous Lagrangian sensors which passively monitor water velocity, the sensors described in this article can actively control their trajectory on the surface of the water and are capable of inter-sensor communication. The addition of these functionalities enables Lagrangian sensing in obstacle-encumbered environments, such as rivers. The Ishikawa cause and effect design framework is used to ensure that the final system synthesizes the diverse operational and functional needs of multiple end-user groups to arrive at a broadly applicable system design. A summary of potential applications for the system is given including completed projects performed on behalf of the Department of Homeland Security, Office of Naval Research, and the California Bay-Delta Authority. }
}

@INPROCEEDINGS{Osaku2013Implementation, 
author={J. Osaku and A. Asada and F. Maeda and Y. Yamagata and T. Kanamaru}, 
booktitle={2013 IEEE International Underwater Technology Symposium (UT)}, 
title={Implementation of machine learning algorism to autonomous surface vehicle for tracking and navigating AUV}, 
year={2013}, 
pages={1-4}, 
abstract={On the construction of Kanda port in Fukuoka prefecture, many harmful chemical bombs have been discovered beneath the sea bottom and they are needed to be dug up carefully and quickly as possible. So our group is trying to develop a new sub-bottom interferometric synthetic aperture imaging sonar (sub-bottom interferometric SAS) system to recognize chemical bombs as centimeters-resolution 3D-sub-bottom acoustic image. In this R&D study, it is the reasonable methodology to use an autonomous underwater vehicle (AUV) which can survey the seafloor with sub-bottom interferometric SAS transmitter and receiver at a constant height. To accomplish this R&D goal, positioning AUV accurately is needed, so we are trying to develop the technique which minimizes the error of positioning, using autonomous surface vehicle (ASV) which tracks AUV and surveys its absolute position by super short-baseline (SSBL) method. In development of tracking ASV, it is important to develop the controlling algorism which orders ASV to steer stably and control adequately its velocity according to the result of SSBL positioning of the AUV. Based on machine learning method, we are trying to develop an algorism which infers appropriate control of ASV from precious controlling log. Implementation of this algorism will improve the precision of underwater positioning. This paper reports the development status of our ASV and controlling algorism.}, 
keywords={autonomous underwater vehicles;explosive detection;learning (artificial intelligence);marine engineering;navigation;position control;radar interferometry;sonar imaging;sonar tracking;synthetic aperture radar;AUV navigation;AUV tracking;autonomous surface vehicle;chemical bomb recognition;machine learning algorithm;steer stability;subbottom interferometric synthetic aperture imaging sonar;super short baseline method;underwater positioning;Acoustics;Compass;Computers;Global Positioning System;Software;Synthetic aperture sonar;Weapons}, 
doi={10.1109/UT.2013.6519900}, 
month={March},}

@article{Osumi2014Application,
title={Application of Robot Technologies to the Disaster Sites},
author={Osumi, Hisashi},
journal={Report of JSME Research Committee on the Great East Japan Earthquake Disaster},
pages={58--74},
year={2014}
}

@article{Othman2015Review,
title={A Review on Current Design of Unmanned Surface Vehicles (USVs)},
author={El Harrak Othman},
journal={Journal of Advanced Review on Scientific Research},
volume = {16},
number={1},
pages={12-17},
publisher={Penerbit Akademia Baru},
year={2015},
issn={2289-7887},
abstract={The paper discusses the expanding technologies that have allowed the USVs to emerge widely in various of sector marine as well as the application areas where they offer valuable serve. The paper comparing from the previous concept design until the current design of USVs and their function and suitability.},
keywords={USV, Catamaran, Trimaran},
}

@article{Paliotta2015Adaptive,
title={Adaptive Source Seeking with Leader-Follower Formation Control},
volume={48},
pages={285--290},
number={16},
journaltitle={{IFAC}-{PapersOnLine}},
author={Paliotta, Claudio and Belleter, Dennis {JW} and Pettersen, Kristin Y},
date={2015},
keywords={multi-agent systems}
}

@article{Papadopoulos20113D,
author = {Papadopoulos, Georgios and Kurniawati, Hanna and {Bin Mohd Shariff}, Ahmed Shafeeq and Wong, Liang Jie and Patrikalakis, Nicholas M.},
doi = {10.1109/IROS.2011.6048609},
file = {:home/darlan/Dropbox/Survey Barcos - Produto Final/Papadopoulos2011Reconstruction.pdf:pdf},
isbn = {9781612844541},
issn = {2153-0858},
journal = {IEEE International Conference on Intelligent Robots and Systems},
mendeley-groups = {Survey Disaster USV},
number = {1},
volume = {-},
pages = {3551--3557},
title = {{3D-surface reconstruction for partially submerged marine structures using an autonomous surface vehicle}},
year = {2011}
}

@article{Papadopoulos2014Experiments,
author = {Papadopoulos, Georgios and Kurniawati, Hanna and Bin Mohd Shariff, Ahmed Shafeeq and Wong, Liang Jie and Patrikalakis, Nicholas},
year = {2014},
month = {03},
pages = {},
title = {Experiments on Surface Reconstruction for Partially Submerged Marine Structures},
volume = {31},
journal = {Journal of Field Robotics},
doi = {10.1002/rob.21478}
}

@inproceedings{Kurniawati2011Infrastructure,
  title={Infrastructure for {3D} model reconstruction of marine structures},
  author={Hanna Kurniawati and James C. Schulmeister and Tirthankar Bandyopadhyay and Georgios Papadopoulos and Franz S. Hover and Nicholas M. Patrikalakis},
  booktitle={Proceedings of the International Offshore and Polar Engineering Conference},
  year={2011}
}

@inproceedings{Papadopoulou2017Investigating,
author={Papadopoulou, Panagiota and Kolomvatsos, Kostas and Panagidi, Kyriaki and Hadjiefthymiades, Stathes}, 
title={Investigating The Business Potential Of Internet Of Things},
booktitle={MCIS 2017 Proceedings. 33},
year={2017},
url={http://aisel.aisnet.org/mcis2017/33},
abstract={Internet of Things (IoT) encompasses a wide range of devices and technologies which cumulatively shape a new environment with unprecedented business prospects. This paper aims to investigate the business potential of the IoT, examining the opportunities it offers as well as the challenges it creates for current and future business models. In this direction, the paper presents a proposed framework for analyzing IoT business models into dimensions that can facilitate our understanding of their development and success. The paper also denotes factors that can affect the success of IoT business models, focusing on security, privacy, trust, legal and economic aspects of IoT. The paper continues to show the business applicability of IoT through the case of RAWFIE project, describing example application scenarios of mobile IoT in selected domains and analysing its business potential.}, 
}

@inproceedings{Paravisi2018Toward,
  author    = {Marcelo Paravisi and
               Vitor A. M. Jorge and
               Alexandre M. Amory},
  title     = {Toward an Accurate Hydrologic Urban Flooding Simulations for Disaster
               Robotics},
  booktitle = {Proceedings of the 15th International Conference on Informatics in
               Control, Automation and Robotics, {ICINCO} 2018 - Volume 2, Porto,
               Portugal, July 29-31, 2018.},
  pages     = {435--441},
  year      = {2018},
}

@INPROCEEDINGS{Patterson2013Safety, 
author={M. C. L. Patterson and A. Mulligan and F. Boiteux}, 
booktitle={2013 OCEANS - San Diego}, 
title={Safety and security applications for micro-unmanned surface vessels},
year={2013}, 
pages={1-6}, 
abstract={As the challenges of maritime safety and security evolve we are forced to closely examine emerging threats and to develop a maritime strategy that embodies solutions for current and a widening array of future threats. Robotic platforms have proven to be an effective tool for gathering information in support of land based security and disaster response and are now being explored in an effort to support maritime security, search and rescue and disaster response. This paper discusses existing and potential use of micro-unmanned surface vessels (USVs) in support of a range of maritime security issues and identifies a comprehensive, low-cost tool to combat future terrorists, while addressing maritime security and safety considerations.}, 
keywords={marine engineering;marine safety;microrobots;mobile robots;remotely operated vehicles;USV;disaster response;information gathering;land based security;maritime safety applications;maritime safety considerations;maritime security applications;maritime security considerations;microunmanned surface vessels;robotic platforms;search and rescue;Boats;Real-time systems;Safety;Sea surface;Security;Sensors;Sonar;ISR;Unmanned Surface Vessels (USVs);actionable intelligence;autonomous;first responders;man-portable;persistent surveillance;safety;sensors;standoff}, 
doi={10.23919/OCEANS.2013.6741259}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Pearson2014High, 
author={D. Pearson and E. An and M. Dhanak and K. von Ellenrieder and P. Beaujean}, 
booktitle={2014 IEEE/OES Autonomous Underwater Vehicles (AUV)}, 
title={High-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform autonomous launch and recovery (ALR) of an autonomous underwater vehicle (AUV)}, 
year={2014}, 
pages={1-15}, 
abstract={There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV) or Remotely Operated Vehicles (ROV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this paper is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 unmanned surface vehicle (USV) in order to autonomously launch and recover a REMUS 100 autonomous underwater vehicle (AUV). The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous-Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.}, 
keywords={autonomous underwater vehicles;fuzzy control;mobile robots;position control;velocity control;ALR;AUV;ROV;USV;UUV;autonomous launch and recovery;autonomous underwater vehicle;fuzzy logic guidance system;fuzzy logic waypoint-heading controller;heading command;remotely operated vehicle;speed command;underwater positioning;unmanned surface vehicle;unmanned underwater vehicle;Fuzzy logic;Global Positioning System;Mobile communication;Sea surface;Underwater vehicles;Vehicles;Autonomous Launch and Recovery;Autonomous Underwater Vehicle;Fuzzy Logic;High-level Guidance;Rendezvous-Docking;Unmanned Surface Vehicle;Waypoint-Heading}, 
doi={10.1109/AUV.2014.7054403}, 
ISSN={1522-3167}, 
month={Oct},}

@ARTICLE{Peng2017Distributed, 
author={Zhouhua Peng and Jun Wang and Dan Wang}, 
journal={IEEE Transactions on Industrial Electronics}, 
title={Distributed Containment Maneuvering of Multiple Marine Vessels via Neurodynamics-Based Output Feedback}, 
year={2017}, 
volume={64}, 
number={5}, 
pages={3831-3839}, 
abstract={In this paper, a neurodynamics-based output feedback scheme is proposed for distributed containment maneuvering of marine vessels guided by multiple parameterized paths without using velocity measurements. Each vessel is subject to internal model uncertainties and external disturbances induced by wind, waves, and ocean currents. In order to recover unmeasured velocity information as well as to identify unknown vessel dynamics, an echo state network (ESN) based observer using recorded input-output data is proposed for each vessel. Based on the observed velocity information of neighboring vessels, distributed containment maneuvering laws are developed at the kinematic level. Next, in order to shape the transient motion profile for vessel kinetics to follow, finite-time nonlinear tracking differentiators are employed to generate smooth reference signals as well as to extract the time derivatives of kinematic control laws. Finally, ESN-based dynamic control laws are constructed at the kinetic level. The stability of the closed-loop system is analyzed via input-to-state stability and cascade theory. Simulation results are provided to illustrate the efficacy of the proposed neurodynamics-based output feedback approach.}, 
keywords={cascade control;closed loop systems;distributed control;feedback;marine vehicles;neurocontrollers;nonlinear control systems;observers;stability;velocity control;ESN;cascade theory;closed-loop system;distributed containment maneuvering laws;echo state network;finite-time nonlinear tracking differentiators;input-to-state stability;kinematic control laws;multiple marine vessels;neurodynamics;observer;output feedback;velocity measurements;vessel kinetics;Dynamics;Kinetic theory;Observers;Output feedback;Stability analysis;Tracking;Vehicle dynamics;Containment maneuvering;echo state network (ESN);marine vessels;nonlinear tracking differentiator (NLTD);output feedback}, 
doi={10.1109/TIE.2017.2652346}, 
ISSN={0278-0046}, 
month={May},}

@book{Perry2001Facing,
  title={Facing the unexpected: Disaster preparedness and response in the United States},
  author={Perry, Ronald W and Lindell, Michael K and Tierney, Kathleen J},
  year={2001},
  publisher={Joseph Henry Press}
}

@article{Perry2003Observing,
author={Mary Jane Perry and Daniel L. Rudnick},
title={Observing the Ocean with Autonomous and Lagrangian Platforms and Sensors: The Role of ALPS in Sustained Ocean Observing Systems},
journal={Oceanography},
year={2003},
month={},
note={}, 
volume={16},
url={http://dx.doi.org/10.5670/oceanog.2003.06},
abstract={Oceanographers have long dreamed of a detailed, 4-D view of the ocean. The last decade has witnessed a revolution in autonomous ocean observing capabilities as new platforms and sensors developed, and rapidly matured. As these systems become fully operational, and integrated with other components of the ocean observing system, oceanographers will move closer to realizing this dream. The new generation of oceanographic platforms has been characterized as “autonomous” because the platforms operate—tracking water masses, recording oceanographic properties, and transmitting data home via satellite telemetry—without a tether to either the seafloor or a ship. Autonomous platforms are diverse in their mechanisms and rates of motion; mission payloads, ranges and durations; and capabilities to change sampling parameters during a mission either by receiving commands from home or by using on-board, decision-making tools. The platforms encompass Lagrangian surface drifters, neutrally buoyant and profiling floats, highly controllable self-propelled AUVs (Autonomous Underwater Vehicles), and underwater gliders that adjust their buoyancy to glide forward through the ocean in a saw-tooth pattern. Each platform genre has its own optimum sampling domain, capability to incorporate sensors, and unique potential to contribute to sustained observation of the ocean, such as the U.S. Integrated Ocean Observing System (IOOS).},
}

@INPROCEEDINGS{Pham2016Design,
author={N. H. Pham and H. M. La},
booktitle={2016 54th Annual Allerton Conference on Communication, Control, and Computing (Allerton)},
title={Design and implementation of an autonomous robot for steel bridge inspection},
year={2016},
volume={},
number={},
pages={556-562},
abstract={Steel bridges constitute the second most bridges in the U.S. while the number of deficient bridges are growing. Currently, the majority number of current bridge inspections are done manually by inspectors which require significant amount of human resources along with expensive and specialized equipment. Moreover, it is difficult and dangerous for inspectors to inspect large bridges with high structures. In this paper, we propose a new design and implementation of a robotic system that can be used for steel bridge inspection. The robot consists of four magnetic wheels which create adhesion to steel surface. It is able to carry multiple sensors for navigation and mapping. Collected data are sent to the ground station for live monitoring as well as further processing. In addition, magnetic field and range sensors are also integrated to enable robot to move safely on steel surfaces. Results with physical tests on real steel structures are shown to validate the feasibility of robot design.},
keywords={adhesion;bridges (structures);design engineering;inspection;magnetic field measurement;magnetic sensors;mobile robots;steel;wheels;US;adhesion;autonomous robot design;autonomous robot implementation;ground station;live monitoring;magnetic field;magnetic wheel;multiple sensor;navigation and mapping;range sensor;real steel structure;robotic system implementation;steel bridge inspection;Bridges;Inspection;Mobile robots;Robot sensing systems;Steel;Wheels},
doi={10.1109/ALLERTON.2016.7852280},
ISSN={},
month={Sept},}

@Article{Phanthong2014Application,
author="Phanthong, Thanapong and Maki, Toshihiro and Ura, Tamaki and Sakamaki, Takashi and Aiyarak, Pattara",
title="Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles",
journal="Journal of Marine Science and Application",
year="2014",
volume="13",
number="1",
pages="105--116",
abstract="This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle (USV) based on multi-beam forward looking sonar (FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom (surge and yaw). In this paper, two-dimensional (2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System (GPS) of the USV.",
issn="1993-5048",
doi="10.1007/s11804-014-1224-3",
url="http://dx.doi.org/10.1007/s11804-014-1224-3"
}

@Article{Phillips2016From,
author="Phillips-Grafflin, Calder
and Suay, Halit Bener
and Mainprice, Jim
and Alunni, Nicholas
and Lofaro, Daniel
and Berenson, Dmitry
and Chernova, Sonia
and Lindeman, Robert W.
and Oh, Paul",
title="From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication",
journal="Journal of Intelligent {\&} Robotic Systems",
year="2016",
volume="82",
number="3",
pages="341--361",
abstract="In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA Robotics Challenge (DRC). We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.",
issn="1573-0409",
doi="10.1007/s10846-015-0256-5",
url="http://dx.doi.org/10.1007/s10846-015-0256-5"
}

@CONFERENCE{Phung2013Localization,
author={Phung, M.D. and Nguyen, T.T.V. and Tran, T.H. and Tran, Q.V.},
title={Localization of networked robot systems subject to random delay and packet loss},
journal={2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013},
year={2013},
pages={1442-1447},
doi={10.1109/AIM.2013.6584297},
art_number={6584297},
note={cited By 0},
url={https://www.scopus.com/inward/record.uri?eid=2-s2.0-84883699253&doi=10.1109%2fAIM.2013.6584297&partnerID=40&md5=9907c242cbb91ed45f3711b7237fdf31},
affiliation={VNU University of Engineering and Technology, Hanoi, Viet Nam},
abstract={This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot. © 2013 IEEE.},
author_keywords={Kalman filter;  Networked robot systems;  packet loss;  random delay;  robot localization},
document_type={Conference Paper},
source={Scopus},
}

@CONFERENCE{Pineda2015Continual,
author={Pineda, L. and Takahashi, T. and Jung, H.-T. and Zilberstein, S. and Grupen, R.},
title={Continual planning for search and rescue robots},
journal={IEEE-RAS International Conference on Humanoid Robots},
year={2015},
volume={2015-December},
pages={243-248},
doi={10.1109/HUMANOIDS.2015.7363542},
art_number={7363542},
note={cited By 0},
url={https://www.scopus.com/inward/record.uri?eid=2-s2.0-84962255205&doi=10.1109%2fHUMANOIDS.2015.7363542&partnerID=40&md5=27414b3f320b63a4b499a13c157fcbec},
affiliation={College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, United States},
abstract={The deployment of robots for emergency response tasks such as search and rescue is a promising application of robotics with growing importance. Given the perilous nature of these tasks, autonomous robot operation is highly desirable in order to reduce the risk imposed on the human rescue team. While much work has been done on creating robotic systems that can be deployed for search and rescue, limited work has been devoted to devise efficient real-time automated planning algorithms for these tasks. In this work, we present REDHI, an efficient algorithm for solving probabilistic models of complex problems such as search and rescue. We evaluate our algorithm on the search and rescue problem using both an abstract domain representation and a semi-realistic simulator of an existing robot system. The results show that REDHI can obtain near optimal performance with negligible planning time. © 2015 IEEE.},
author_keywords={Computational modeling;  Hazards;  Optimization;  Planning;  Robot sensing systems;  Search problems},
document_type={Conference Paper},
source={Scopus},
}

@INPROCEEDINGS{Pinto2014Autnomous, 
author={E. Pinto and F. Marques and R. Mendonça and A. Lourenço and P. Santana and J. Barata}, 
booktitle={2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)}, 
title={An autonomous surface-aerial marsupial robotic team for riverine environmental monitoring: Benefiting from coordinated aerial, underwater, and surface level perception}, 
year={2014}, 
pages={443-450}, 
abstract={This paper presents RIVERWATCH, an autonomous surface-aerial marsupial robotic team for riverine environmental monitoring. The robotic system is composed of an Autonomous Surface Vehicle (ASV) piggybacking a multirotor Unmanned Aerial Vehicle (UAV) with vertical takeoff and landing capabilities. The ASV provides the team with longrange transportation in all-weather conditions, whereas the UAV assures an augmented perception of the environment. The coordinated aerial, underwater, and surface level perception allows the team to assess navigation cost from the near field to the far field, which is key for safe navigation and environmental monitoring data gathering. The robotic system is validated on a set of field trials.}, 
keywords={autonomous aerial vehicles;environmental factors;mobile robots;path planning;ASV;RIVERWATCH;UAV;autonomous surface vehicle;autonomous surface-aerial marsupial robotic team;coordinated aerial perception;multirotor unmanned aerial vehicle;riverine environmental monitoring;surface level perception;underwater perception;vertical takeoff and landing;Cameras;Image segmentation;Navigation;Robot kinematics;Robot sensing systems;Vehicles}, 
doi={10.1109/ROBIO.2014.7090371}, 
month={Dec},}

@INPROCEEDINGS{Plonski2015Navigation, 
author={P. A. Plonski and J. Vander Hook and C. Peng and N. Noori and V. Isler}, 
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Navigation around an unknown obstacle for autonomous surface vehicles using a forward-facing sonar}, 
year={2015}, 
pages={1-7}, 
abstract={A robotic boat is moving between two points when it encounters an obstacle of unknown size. The boat must find a short path around the obstacle to resume its original course. How should the boat move when it can only sense the proximity of the obstacle, and does not have prior information about the obstacle's size? We study this problem for a robotic boat with a forward-facing sonar. We study two versions of the problem. First, we solve a simplified case when the obstacle is a rectangle of known orientation but unknown dimensions. Second, we study a more general case where an arbitrarily shaped obstacle is contained between two known parallel lines. We study the performance of the algorithms analytically using competitive analysis and present results from field experiments. The experimental setup is relevant for harbor patrol or autonomous navigation in shallow water.}, 
keywords={boats;collision avoidance;mobile robots;sonar;arbitrarily shaped obstacle;autonomous navigation;autonomous surface vehicles;forward-facing sonar;harbor patrol;obstacle size;robotic boat;shallow water;Boats;Robot sensing systems;Sonar measurements;Sonar navigation;Vehicles}, 
doi={10.1109/SSRR.2015.7443014}, 
month={Oct},}

@ARTICLE{Plonski2017Environment, 
author={P. A. Plonski and J. Vander Hook and C. Peng and N. Noori and V. Isler}, 
journal={IEEE Transactions on Automation Science and Engineering}, 
title={Environment Exploration in Sensing Automation for Habitat Monitoring}, 
year={2017}, 
volume={14}, 
number={1}, 
pages={25-38}, 
abstract={We present algorithms for environment exploration in the context of a habitat monitoring task, where the goal is to track radio-tagged invasive fish with autonomous surface or ground robots. The first task is navigation around an unknown obstacle using an input from a front-facing sonar. This capability is important for navigation on inland lakes, because plants and shallow shorelines are hard to map in advance. The second task involves energy harvesting for long-term operation. We address the problem of exploring the solar map of the environment which is used for energy-efficient navigation. For both problems, we present online algorithms and examine their performance using competitive analysis. In competitive analysis, the performance of an online algorithm is compared against the optimal offline algorithm. For obstacle avoidance, the offline algorithm knows the shape of the obstacle. For solar exploration, the offline algorithm knows the geometry of the shadow-casting objects. We obtain an $O(1)$ competitive ratio for obstacle avoidance and an $O(\log n)$ competitive ratio for solar exploration, where $n$ is the number of critical points to observe. The strategies for obstacle avoidance are validated through extensive field experiments, and the strategies for exploration are validated with simulations.}, 
keywords={collision avoidance;environmental monitoring (geophysics);mobile robots;autonomous robot navigation;environment exploration;habitat monitoring;invasive fish tracking;obstacle avoidance;robot sensing system;Automation;Collision avoidance;Robot sensing systems;Sonar;Sonar navigation;Vehicles;Intelligent robots;mobile robot motion-planning;robot sensing systems}, 
doi={10.1109/TASE.2016.2613403}, 
ISSN={1545-5955}, 
month={Jan},}

@INPROCEEDINGS{Plumet2013Line, 
author={F. Plumet and H. Saoud and Minh-Duc Hua}, 
booktitle={2013 MTS/IEEE OCEANS - Bergen}, 
title={Line following for an autonomous sailboat using potential fields method}, 
year={2013}, 
pages={1-6}, 
abstract={Artificial potential fields method is a widely used algorithm for path planning of autonomous terrestrial robots. In this paper, this method is applied for the local path planning of an autonomous sailboat robot. Environment and specific sailboat navigation constraints (upwind and downwind no-go zones) are represented by local potentials built around the boat location and periodically updated to take into account changes of the wind direction and obstacles' position. A line of sight (LOS) based potential is used to guarantee that the vehicle stays inside a band around the direct route between two consecutive way points. A new repulsive potential with a speed-dependent component is also presented in order to get smoother obstacle avoidance trajectories.}, 
keywords={boats;collision avoidance;mobile robots;navigation;LOS;autonomous sailboat robot;autonomous terrestrial robots;line of sight;local path planning;obstacle avoidance trajectories;obstacles position;potential fields method;sailboat navigation constraints;wind direction;Boats;Collision avoidance;IEEE Potentials;Navigation;Path planning;Robots;Sensors}, 
doi={10.1109/OCEANS-Bergen.2013.6607961}, 
month={June},}

@article{Prabhu2016Unmanned,
  title={UNMANNED SURFACE VEHICLE (USV) FOR COASTAL SURVEILLANCE},
  author={Prabhu, T},
  journal={International Journal of Mechanical Engineering and Technology (IJMET)},
  volume={7},
  number={3},
  pages={13--28},
  year={2016}
}

@article{Pradalier2012Design,
  title={Design and application of a surface vessel for autonomous inland water monitoring},
  author={Pradalier, C{\'e}dric and Posch, Thomas and Pernthaler, Jakob and Siegwart, R},
  journal={IEEE robotics \& automation magazine},
  pages={1--9},
  year={2012}
}

@ARTICLE{Prasad2017Video,
author={D. K. Prasad and D. Rajan and L. Rachmawati and E. Rajabally and C. Quek},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Video Processing From Electro-Optical Sensors for Object Detection and Tracking in a Maritime Environment: A Survey},
year={2017},
volume={18},
number={8},
pages={1993-2016},
abstract={We present a survey on maritime object detection and tracking approaches, which are essential for the development of a navigational system for autonomous ships. The electro-optical (EO) sensor considered here is a video camera that operates in the visible or the infrared spectra, which conventionally complements radar and sonar for situational awareness at sea and has demonstrated its effectiveness over the last few years. This paper provides a comprehensive overview of various approaches of video processing for object detection and tracking in the maritime environment. We follow an approach-based taxonomy wherein the advantages and limitations of each approach are compared. The object detection system consists of the following modules: horizon detection, static background subtraction, and foreground segmentation. Each of these has been studied extensively in maritime situations and has been shown to be challenging due to the presence of background motion especially due to waves and wakes. The key processes involved in object tracking include video frame registration, dynamic background subtraction, and the object tracking algorithm itself. The challenges for robust tracking arise due to camera motion, dynamic background, and low contrast of tracked object, possibly due to environmental degradation. The survey also discusses multisensor approaches and commercial maritime systems that use EO sensors. The survey also highlights methods from computer vision research, which hold promise to perform well in maritime EO data processing. Performance of several maritime and computer vision techniques is evaluated on Singapore Maritime Dataset.},
keywords={computer vision;electro-optical devices;environmental degradation;image registration;image segmentation;infrared spectra;marine engineering;object detection;object tracking;sensor fusion;ships;video cameras;video signal processing;video processing;electro-optical sensors;EO sensor;object tracking;maritime environment;maritime object detection;navigational system;autonomous ships;video camera;infrared spectra;sea situational awareness;taxonomy;horizon detection;static background subtraction;foreground segmentation;video frame registration;dynamic background subtraction;environmental degradation;multisensor approaches;commercial maritime systems;maritime EO data processing;computer vision techniques;Singapore maritime dataset;Image edge detection;Object detection;Intelligent sensors;Radar tracking;Cameras;Marine vehicles;Maritime vehicles;maritime navigation;autonomous automobiles;video signal processing;computer vision},
doi={10.1109/TITS.2016.2634580},
ISSN={1524-9050},
month={Aug},}

@article{Pritchett2015Ghost,
  title={Ghost Ships: Why the Law Should Embrace Unmanned Vessel Technology},
  author={Pritchett, Paul W},
  journal={Tul. Mar. LJ},
  volume={40},
  pages={197},
  year={2015},
  publisher={HeinOnline}
}

@CONFERENCE{Pugh2007Cost,
author={Pugh, J. and Martinoli, A.},
title={The cost of reality: Effects of real-world factors on multi-robot search},
journal={Proceedings - IEEE International Conference on Robotics and Automation},
year={2007},
pages={397-404},
doi={10.1109/ROBOT.2007.363819},
art_number={4209124},
note={cited By 0},
url={https://www.scopus.com/inward/record.uri?eid=2-s2.0-36348999832&doi=10.1109%2fROBOT.2007.363819&partnerID=40&md5=7f1bfa3a45ce39248bef03f8f3d34c58},
affiliation={Swarm-Intelligent Systems Group, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland},
abstract={Designing algorithms for multi-robot systems can be a complex and difficult process: the cost of such systems can be very high, collecting experimental data can be time-consuming, and individual robots may malfunction, invalidating experiments. These constraints make it very tempting to work using high-level abstractions of the robots and their environment. While these high-level models can be useful for initial design, it is important to verify techniques in more realistic scenarios that include real-world effects that may have been ignored in the abstractions. In this paper, we take a simple, coordinated, multi-robot search algorithm and illustrate problems that it encounters in environments which incorporate real-world factors, such as probabilistic target detection and positional noise. We compare the performance to that of several simple randomized approaches, which are better able to deal with these constraints. ©2007 IEEE.},
document_type={Conference Paper},
source={Scopus},
}

@INPROCEEDINGS{Qi2015Survey,
author={A. C. Qi and Q. L. Han and Y. L. Wang},
booktitle={2015 34th Chinese Control Conference (CCC)},
title={A survey of motion control for marine vehicles},
year={2015},
volume={},
number={},
pages={4214-4218},
abstract={The motion control of marine vehicles has attracted much attention from control community. This paper reviews the recent results on the motion control of marine vehicles. The approaches dealing with rudder roll stabilization, heading control, dynamic positioning, unmanned marine vehicles, underactuated marine vehicles, marine thruster control, and controller design for marine vehicles are reviewed.},
keywords={control system synthesis;marine vehicles;motion control;position control;remotely operated vehicles;controller design;dynamic positioning;heading control;marine thruster control;motion control;rudder roll stabilization;underactuated marine vehicles;unmanned marine vehicles;Control systems;Dynamics;Marine vehicles;Sea surface;Surges;Vehicle dynamics;Vehicles;Dynamic Positioning;Heading Control;Marine Vehicles;Roll Stabilization;Underactuated Marine Vehicles;Unmanned Marine Vehicles},
doi={10.1109/ChiCC.2015.7260289},
ISSN={},
month={July},}


@INPROCEEDINGS{Rafferty2013Autonomous,
author={K. J. Rafferty and E. W. McGookin},
booktitle={2013 International Conference on Connected Vehicles and Expo (ICCVE)},
title={An autonomous air-sea rescue system using Particle Swarm Optimization},
year={2013},
volume={},
number={},
pages={459-464},
abstract={The focus of this paper is the application of Particle Swarm Optimization to an autonomous air-sea rescue system. This heuristic technique is used to search an area of the sea for survivors of a sinking ship, and is compared with the Random Search, which is used as a benchmark. The search is carried out by four small unmanned helicopters that are deployed from a stationary platform, which in this case, is an autonomous surface vessel. The helicopters are instructed to search a given region for survivors by measuring the temperature of each point visited in the search space using an infrared camera. It has been found that on average, the Particle Swarm Optimization algorithm covers less ground than the Random Search but detects more targets, indicating the effectiveness of the heuristics.},
keywords={autonomous aerial vehicles;collision avoidance;helicopters;infrared imaging;particle swarm optimisation;ships;autonomous air-sea rescue system;heuristic technique;sea area search;sinking ship survivors;random search;unmanned helicopters;stationary platform;autonomous surface vessel;temperature measurement;infrared camera;particle swarm optimization algorithm;target detection;Helicopters;Particle swarm optimization;Rotors;Vehicles;Ocean temperature;Vectors;Mathematical model;Particle Swarm Optimization;autonomous system;search algorithm;heuristics},
doi={10.1109/ICCVE.2013.6799836},
ISSN={2378-1289},
month={Dec},}

@INPROCEEDINGS{Ramirez2011Coordinated,
author={F. F. Ram\'{i}rez and D. S. Benitez and E. B. Portas and J. A. L. Orozco},
booktitle={OCEANS 2011 IEEE - Spain},
title={Coordinated sea rescue system based on unmanned air vehicles and surface vessels},
year={2011},
volume={},
number={},
pages={1-10},
abstract={This paper presents a sea rescue system based on a coordinated team of a sensing/monitoring Unmanned Aerial Vehicle (UAV) and a rescuing Unmanned Surface Vessel (USV) that exploits the measurements provided by the UAV to estimate the castaways position. The system models the castaway location evolution using an Artificial Neural Network (ANN) that is trained before the rescue starts using a map of the sea wind and currents. The UAV predicts the position of the castaways with the prediction ANN and searches the castaways using a controller implemented with another ANN trained with searching behaviors. The USV, with a bigger computational power, incorporates a Particle Filter (PF) to estimate the castaway location. This PF uses the prediction ANN to predict the position of the particles and the measurements of the UAV and USV to update their weights. Finally, the paper presents some simulated experiments that show the whole system performance under different situations.},
keywords={aerospace robotics;aircraft;boats;control engineering computing;emergency services;learning (artificial intelligence);mobile robots;particle filtering (numerical methods);remotely operated vehicles;coordinated sea rescue system;unmanned aerial vehicle;unmanned surface vessel;castaways position;artificial neural network;sea wind;ANN training;computational power;particle filter;Vehicles;Artificial neural networks;Sensors;Predictive models;Sea measurements;Visual system;Mathematical model;Shipwreck;Artificial Neural Network;Particle Filters Unmanned Vehicles;Search and rescue},
doi={10.1109/Oceans-Spain.2011.6003509},
ISSN={},
month={June},}

@Inbook{Rathour2017Development,
author="Rathour, S. S.
and Kato, Naomi
and Senga, H.
and Tanabe, T.
and Yoshie, M.
and Tanaka, T.",
title="Development of a Robotic Floating Buoy for Autonomously Tracking Oil Slicks Drifting on the Sea Surface (SOTAB-II): Experimental Results",
bookTitle="Applications to Marine Disaster Prevention: Spilled Oil and Gas Tracking Buoy System",
year="2017",
publisher="Springer Japan",
address="Tokyo",
pages="95--127",
isbn="978-4-431-55991-7",
doi="10.1007/978-4-431-55991-7_4",
url="http://dx.doi.org/10.1007/978-4-431-55991-7_4"
}

@inproceedings{Rathour2015Sea,
title={Sea Experiments on Autonomous tracking of Oil Spill using a Robotic Platform},
author={S. S. Rathour and N. Kato and N. Tanabe  and H. Senga and M. Yoshie and T. Tanaka},
booktitle={The 23rd Ocean Engineering Symposium}, 
month={August},
year={2015},
Abstract={The environmental impact of oil and gas leaks during the extraction, handling, and temporary storage of oil from offshore wells; or during the offshore transportation of oil via flow line, underwater pipeline, or tanker has never been more visible to the public – with the recent disaster in the Gulf of Mexico – yet the solutions currently available do not meet all the requirements in terms of performance and reliability. This research focuses on the problem of autonomous oil spill tracking in oceanic marine environments. We describe a sensor-based guidance, navigation, and control system (GNC) for oil spill tracking by autonomous surface vehicle (ASV) in unsteady and uncertain environments. First, we describe the design and development of a yacht-shaped ASV that can track spilled oil on the sea surface using data supplied by onboard sensors to control rudder angle and sail area for navigation. Secondly, we describe an autonomous ASV decisionmaking algorithm for target speed and direction based on a complete time history of the scanned area around the ASV by the oil detection sensor. Finally, we describe field experiments conducted at the Eigashima beach, Kobe to validate the performance of the ASV with regard to autonomous oil spill tracking using GNCS based on onboard sensors data for tracking artificial oil targets.},
}

@article {Rathour2015Spilled,
author="Rathour, Swarn Singh and Kato, Naomi and Tanabe, Naoto and Senga, Hidetaka and Hirai, Yukino and Yoshie, Muneo and Tanaka, Toshinari",
title="Spilled Oil Autonomous Tracking Using Autonomous Sea Surface Vehicle",
journal="Marine Technology Society Journal",
volume="49",
number="3",
year="2015",
abstract="Over the past several decades, a concerted scientific effort has been made to estimate the drift and spread of spilled oil on the ocean surface. However, tracking spilled oil in open water remains challenging. This research focuses on the problem of autonomous oil spill tracking in oceanic marine environments. We describe a sensor-based guidance, navigation, and control system (GNCS) for oil spill tracking by an autonomous surface vehicle (ASV) in unsteady and uncertain environments. First, we describe the design and development of a yacht-shaped ASV that can track spilled oil on the sea surface using data supplied by onboard sensors to control rudder angle and sail area for navigation. Second, we evaluate the performance of a Ultraviolet/fluorometry-based optical sensor for use as an oil detection sensor. Third, we describe an autonomous ASV decision-making algorithm for target speed and direction based on a complete time history of the scanned area around the ASV by the oil detection sensor. Finally, we describe field experiments conducted at the Osaka University pond to validate the performance of the ASV with regard to autonomous oil spill tracking using GNCS based on onboard sensors data for tracking artificial oil targets. This technology has profound implications for oil spill disaster recovery operations.",
pages="102-116",
itemtype="ARTICLE",
parent_itemid="infobike://mts/mtsj",
issn="0025-3324",
publishercode ="mts",
url="http://www.ingentaconnect.com/content/mts/mtsj/2015/00000049/00000003/art00015",
doi="doi:10.4031/MTSJ.49.3.15",
keyword="autonomous surface vehicle (ASV), UV/fluorometry, sail control, oil spill tracking algorithm, rudder control"
}

@INPROCEEDINGS{Ratsamee2016Hybrid,
author={P. Ratsamee and P. Kriengkomol and T. Arai and K. Kamiyama and Y. Mae and K. Kiyokawa and T. Mashita and Y. Uranishi and H. Takemura},
booktitle={2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={A hybrid flying and walking robot for steel bridge inspection},
year={2016},
volume={},
number={},
pages={62-67},
abstract={Inspection and maintenance are extremely important to maintain safety and long-term usability of bridges. This application requires a robot that is able to maneuver in a complex 3D environment and to stabilize on steel surfaces to perform bolts checking. We propose a novel design and concept of hybrid (integrated walkability and flyability) robot for steel bridge inspection and maintenance. Our proposed design allow the robot to access a 3D structure without being time consuming. In order to stabilize our robot in 3D space, we present a vibration control based on a vibrator to compensate vibration generated from joint actuators when the robot is flying. We present a preliminary experiment on how our robot performs obstacle avoidance along with a simulation of flying performance of a hybrid robot when the vibration was compensated based on LQG control.},
keywords={actuators;autonomous aerial vehicles;bridges (structures);compensation;inspection;linear quadratic Gaussian control;maintenance engineering;mobile robots;stability;vibration control;3D structure;LQG control;bolt checking;complex 3D environment;hybrid flying-walking robot;joint actuators;obstacle avoidance;steel bridge inspection;steel bridge maintenance;steel surface stabilization;vibration compensation;vibration control;Bridges;Inspection;Legged locomotion;Robot kinematics;Steel;Three-dimensional displays},
doi={10.1109/SSRR.2016.7784278},
ISSN={},
month={Oct},}

@techreport{Reed2006Design,
  title={Design and Implementation of an Autonomous Surface Vessel},
  author={Reed, Caleb M},
  year={2006},
  institution={DTIC Document}
}

@article{Reina2015Survey,
author = {D. G. Reina and M. Askalani and S. L. Toral and F. Barrero and E. Asimakopoulou and N. Bessis},
title ={A Survey on Multihop Ad Hoc Networks for Disaster Response Scenarios},
journal = {International Journal of Distributed Sensor Networks},
volume = {11},
number = {10},
pages = {647037},
year = {2015},
doi = {10.1155/2015/647037},
URL = {https://doi.org/10.1155/2015/647037},
eprint = {https://doi.org/10.1155/2015/647037},
abstract = { Disastrous events are one of the most challenging applications of multihop ad hoc networks due to possible damages of existing telecommunication infrastructure. The deployed cellular communication infrastructure might be partially or completely destroyed after a natural disaster. Multihop ad hoc communication is an interesting alternative to deal with the lack of communications in disaster scenarios. They have evolved since their origin, leading to different ad hoc paradigms such as MANETs, VANETs, DTNs, or WSNs. This paper presents a survey on multihop ad hoc network paradigms for disaster scenarios. It highlights their applicability to important tasks in disaster relief operations. More specifically, the paper reviews the main work found in the literature, which employed ad hoc networks in disaster scenarios. In addition, it discusses the open challenges and the future research directions for each different ad hoc paradigm. }
}

@INPROCEEDINGS{Rentzow2015Design,
author={E. Rentzow and D. Dewitz and M. Kurowski and B. P. Lampe and S. Ritz and R. Kutz and M. Golz and F. Boeck},
booktitle={OCEANS 2015 - Genova},
title={Design and automation of an ocean-going autonomously acting USV},
year={2015},
volume={},
number={},
pages={1-6},
abstract={Unmanned surface vehicles (USV) increasingly gain importance in all areas of marine engineering and natural sciences. Different measuring vehicles are used for short-term measurements with various adaptable sensors. The operation time of these vehicles is limited to few hours. Moreover, long endurance vehicles were designed for long-term missions, generating energy from solar, wind or waves, which are suitable for low-power applications. This paper describes the conceptual design and automation aspects of an innovative ocean-going autonomously acting unmanned surface vehicle. As the vehicle should act as communication node for deep-sea communication up to 6.000 meters, the main challenge is designing a low noise vehicle with reduced motions in waves. The vehicle is supposed to operate autonomously for at least one week. Hence, a hybrid energy system has been designed using batteries and a fuel cell. The automation system allows the vehicle to solve missions in a full autonomous way with minimum operator intervention. The paper closes with aspects of the vehicle construction and first trials.},
keywords={battery powered vehicles;fuel cell vehicles;hybrid electric vehicles;marine communication;marine vehicles;oceanographic equipment;remotely operated vehicles;vehicle dynamics;ocean going autonomously acting USV;unmanned surface vehicles;marine engineering;low power applications;communication node;deep sea communication;hybrid energy system;battery powered vehicle;fuel cell vehicle;Vehicles;Payloads;Fuel cells;Automation;Batteries;Sensors;Sea surface},
doi={10.1109/OCEANS-Genova.2015.7271430},
ISSN={},
month={May},}

@book{Roberts2006Advances,
  title={Advances in unmanned marine vehicles},
  author={Roberts, Geoff N and Sutton, Robert},
  volume={69},
  year={2006},
  publisher={Iet}
}

@article{Rodriquez2012Study,
  title={A Study of the Feasibility of Autonomous Surface Vehicles},
  author={Rodriquez, D and Franklin, Matthew and Byrne, Christopher},
  journal={Worcester Polytechnic Institute},
  year={2012}
}

@inproceedings{Romano2012Autonomous,
title={Autonomous Unmanned Surface Vessels for Hydrographic Measurement and Environmental Monitoring},
booktitle={FIG Working Week 2012},
author={Alberto Romano and Pierluigi Duranti},
year={2012},
abstract={Logistic constraints and difficulties, as well as risks and economical impact of the bathymetric measurement activity, especially in shallow water, are known matters. This activity, in fact, normally implies the presence of human conductors and operators aboard motorized craft that often have to be transported in difficult to reach places or, even worse, have to operate in sites which are dangerous or hazardous for humans such as quarry lakes, landslides, risky or contaminated areas. In certain cases environmental constraints or water depth rule out craft powered by outboard engines. aerRobotix have developed a different approach based on the use of small “unmanned” craft capable of carrying out bathymetric measurements in partial or even total autonomy. Such an innovative solution avoids risks to humans, causes no environmental pollution, reduces the number of operators involved and makes the activity much more flexible. Efficient mission management, small size, handling ease and low power consumption yield low operational costs. A profitable collaboration with Geo Survey has given the opportunity to test on field such advantages in the bathymetry operations and to integrate state-of-the-art professional instrumentation. This paper describes this new approach and the relevant lesson learned. Based on examples related to successful applications of the unmanned twin-hulled “CatOne” vessel it provides details about the characteristics and advantages that unmanned surface vehicles offer for bathymetric measurement and also for other possible applications in the environmental field.},
}

@ARTICLE{Rynne2010Development, 
author={P. F. Rynne and K. D. von Ellenrieder}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={Development and Preliminary Experimental Validation of a Wind- and Solar-Powered Autonomous Surface Vehicle}, 
year={2010}, 
volume={35}, 
number={4}, 
pages={971-983}, 
abstract={The design and initial testing of a wind- and solar-powered (WASP) autonomous surface vehicle (ASV) are presented. The concept vehicle is a 4.2-m length overall monohull keelboat powered by a rigid wing sail with a 5-m span. It is designed to operate in 7-10 km of wind and a maximum sea state of 2. Specific attention is placed on the aerodynamic, hydrodynamic, and systems integration aspects of the design. Rigid wing sails are shown to have superior performance to conventional cloth sails for use on ASVs owing to their higher aerodynamic efficiency and robustness. The manual design process involved in selection of the airfoil cross section for the wing sail and the resulting aerodynamic performance predictions are presented. Through mathematical derivation, the optimal angle for switching the sail configuration from an upwind/crosswind lift-generating mode to a downwind drag-generating mode is found to be 135 . To simplify implementation of the control system when operating in the lift-generating sailing mode, a control scheme that decouples heading and speed control by simply setting the wing sail to an angle of attack of 10 and independently controlling heading was used. The simulation results from a velocity prediction program (VPP) used to verify the feasibility of this control approach are presented. Initial field trials of the vehicle using the control approach with autonomous wing control and manual rudder control are presented. It is shown that the measured boat speeds and wind speed/directions are within the range of values expected from the VPP. Temperatures recorded in a thermal plume during the field trials of the ASV are shown as a function of global positioning system (GPS) location and time.}, 
keywords={aerodynamics;angular velocity control;solar powered vehicles;wind power;ASV;GPS;Global Positioning System;VPP;WASP;aerodynamic efficiency;aerodynamic performance predictions;airfoil cross section;autonomous wing control;control system;distance 5 in;distance 7 km to 10 km;downwind drag-generating mode;lift-generating sailing mode;manual rudder control;monohull keelboat;rigid wing sails;size 4.2 m;speed control;thermal plume;upwind-crosswind lift-generating mode;velocity prediction program;wind-and solar-powered autonomous surface vehicle;Aerodynamics;Force;Mobile robots;Sea surface;Vehicles;Autonomous sailboat;autonomous surface vehicle (ASV);ocean observation system}, 
doi={10.1109/JOE.2010.2078311}, 
ISSN={0364-9059}, 
month={Oct},}

@INPROCEEDINGS{Saldana2017Cooperative,
author={D. Salda\~{n}a and R. Assun\c{c}\~{a}o and M. A. Hsieh and M. F. M. Campos and V. Kumar},
booktitle={2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
title={Cooperative prediction of time-varying boundaries with a team of robots},
year={2017},
volume={},
number={},
pages={9-16},
abstract={Environmental boundaries, such as the borderline of a forest fire or an oil spill, pose a significant threat for living organisms. Anticipating the dynamics of these phenomena is a potentially life-saving indicator to support efficient and effective evacuations or to dispel the hazard. We propose a decentralized coordination method that allows multiple robots to efficiently sample and predict the behavior of environmental boundaries. Our method does not require a priori information about the boundary dynamics. We validate our proposal through experiments with actual robots. We demonstrate experimentally that our method can estimate and predict non-convex boundaries even with noisy measurements and inaccurate motion actuators.},
keywords={multi-robot systems;actual robots;boundary dynamics;decentralized coordination method;environmental boundaries;forest fire;living organisms;multiple robots;nonconvex boundaries;oil spill;potentially life-saving indicator;time-varying boundaries;Dynamics;Robot kinematics;Robot sensing systems;Topology;Tracking},
doi={10.1109/MRS.2017.8250925},
ISSN={},
month={Dec},}

@INPROCEEDINGS{Santos2016Short, 
author={D. H. Santos and A. P. F. Negreiros and J. E. A. Jacobo and L. M. G. Gonçalves and A. G. Silva Junior and J. M. V. B. S. Silva}, 
booktitle={2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)}, 
title={Short-Term Path Planning for High-Level Navigation Control of N-Boat - The Sailboat Robot}, 
year={2016}, 
pages={211-216}, 
abstract={The short-term path planning of a robotic sailboat is a specially challenging task, since the sailboat can not reach points that are directly against the wind following a straight path given by some higher-level trajectory planner. Towards solving this specific problem, this work proposes a short-term path planning method for autonomous sailboats that is capable of dealing with upwind situations. In order to accomplish this, an initial path is geometrically defined and an optimization is done over this path, using genetic algorithm. Basically, our path planning method uses the distance ranges available (longitudinal and lateral) for the maneuvering and the sailboat desired heading to generate points in-between, which are reachable given the wind restriction. The proposed method uses these path planning parameters to come up with an optimized path. Results demonstrate and verifies the feasibility and the usefulness of the method.}, 
keywords={aerodynamics;boats;genetic algorithms;marine navigation;mobile robots;multi-robot systems;path planning;robot dynamics;autonomous sailboats;distance ranges;genetic algorithm;high-level n-boat navigation control;higher-level trajectory planner;robotic sailboat;sailboat heading;short-term path planning;upwind situations;wind restriction;Boats;Genetic algorithms;Mathematical model;Optimization;Robots;Trajectory;Sailboat robot;autonomous vehicles;short-term path planning}, 
doi={10.1109/LARS-SBR.2016.42}, 
month={Oct},}

@INPROCEEDINGS{Saggini2014Assessing, 
author={E. Saggini and M. Torrente and E. Riccomagno and M. Bibuli and G. Bruzzone and M. Caccia and E. Zereik}, 
booktitle={22nd Mediterranean Conference on Control and Automation}, 
title={Assessing path-following performance for Unmanned Marine Vehicles with algorithms from numerical commutative algebra}, 
year={2014}, 
pages={752-757}, 
abstract={A current trend in marine robotics consists of performance evaluation of Unmanned Marine Vehicles (UMVs) guidance systems. This paper contributes to this by defining and testing performance indices and metrics to quantitatively measure and compare path-following performance. It focuses on the definition of a new criterion for evaluating the capability of an Unmanned Surface Vehicle (USV) to follow a desired generic curvilinear path. The main advantages of the method are represented by the possibility to compute the proposed index online and in a very general situation. Theoretical bases of the presented approach and preliminary results on simulated data that highlight the versatility of this criterion are presented.}, 
keywords={algebra;marine vehicles;path planning;remotely operated vehicles;UMV guidance systems;USV;generic curvilinear path;numerical commutative algebra;path-following performance;unmanned marine vehicles;unmanned surface vehicle;Approximation methods;Computer architecture;Measurement;Polynomials;Robots;System performance;Vehicles}, 
doi={10.1109/MED.2014.6961464}, 
month={June},}

@article{Saggini2014Performance,
title="Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems",
journal="IFAC Proceedings Volumes",
volume="47",
number="3",
pages="12182 - 12187",
year="2014",
note="",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20140824-6-ZA-1003.01055",
url="http://www.sciencedirect.com/science/article/pii/S1474667016435536",
author="Eleonora Saggini and Enrica Zereik and Marco Bibuli and Gabriele Bruzzone and Massimo Caccia and Eva Riccomagno",
abstract="Guidance and control system development for Unmanned Marine Vehicles is a well known and consolidated issue, but a general guideline for quantitatively measuring the performance of robotic systems and comparing them is still lacking in the literature. The importance of establishing standards to follow has become more and more stronger, in particular whenever heterogeneous platforms are employed in a common framework. This work focuses on the definition and exploitation of performance indices for marine robotics applications, paying special attention to path-following tasks. Theoretical formalisations for the considered indices, as well as experimental results proving their effectiveness, are reported."
}

@article{Saggini2015Evaluation,
title="Evaluation and comparison of navigation guidance and control systems for 2D surface path-following ",
journal="Annual Reviews in Control ",
volume="40",
number="",
pages="182 - 190",
year="2015",
note="",
issn="1367-5788",
doi="https://doi.org/10.1016/j.arcontrol.2015.08.006",
url="http://www.sciencedirect.com/science/article/pii/S1367578815000486",
author="Eleonora Saggini and Enrica Zereik and Marco Bibuli and Andrea Ranieri and Gabriele Bruzzone and Massimo Caccia and Eva Riccomagno",
abstract="Abstract Robotics nowadays is a mature discipline. For its widespread employment in real civilian scenarios, in close contacts with humans, additional efforts are needed to establish standards and common procedures to evaluate and assess robot performance. A methodology for performance evaluation is here proposed and some indices are formalized for the evaluation of robot behaviors against different criteria. The indices are tested on a number of experiments with unmanned marine vehicles, from different field campaigns and in different scenarios. "
}

@article{Saggini2016Adaptative,
author   ={Eleonora Saggini and Eva Riccomagno and Massimo Caccia and Henry P. Wynn},
title    ={Adaptive Experimental Design for Path-following Performance Assessment of Unmanned Vehicles},
journal  ={CoRR},
volume   ={abs/1611.04330},
year     ={2016},
url      ={http://arxiv.org/abs/1611.04330},
timestamp={Thu, 01 Dec 2016 19:32:08 +0100},
biburl   ={http://dblp.uni-trier.de/rec/bib/journals/corr/SagginiRCW16},
bibsource={dblp computer science bibliography, http://dblp.org}
}

@article{Saggini2016Euclidean,
title={An Euclidean norm based criterion to assess robots’ 2D path-following performance},
author={Saggini, Eleonora and Torrente, Maria-Laura},
journal={Journal of Algebraic Statistics},
volume={7},
number={1},
year={2016},
abstract={A current need in the robotics field is the definition of methodologies for quantitatively evaluating the results of experiments. This paper contributes to this by defining a new criterion for assessing path-following tasks in the planar case, that is, evaluating the performance of robots that are required to follow a desired reference path. Such criterion comes from the study of the local differential geometry of the problem. New conditions for deciding whether or not the zero locus of a given polynomial intersects the neighbourhood of a point are defined. Based on this, new algorithms are presented and tested on both simulated data and experiments conducted at sea employing an Unmanned Surface Vehicle.},
}

@article{Sanches-Garcia2018Survey,
title = "A survey on unmanned aerial and aquatic vehicle multi-hop networks: Wireless communications, evaluation tools and applications",
journal = "Computer Communications",
volume = "119",
pages = "43 - 65",
year = "2018",
issn = "0140-3664",
doi = "https://doi.org/10.1016/j.comcom.2018.02.002",
url = "http://www.sciencedirect.com/science/article/pii/S0140366416304315",
author = "J. Sánchez-García and J.M. García-Campos and M. Arzamendia and D.G. Reina and S.L. Toral and D. Gregor",
keywords = "Unmanned aerial networks, Aquatic networks, Wireless communications, Simulation tools, Bibliometric analysis",
abstract = "Unmanned aerial and aquatic vehicle networks have attracted the attention of the wireless communication research community in the last decade. The low manufacturing costs for developing small unmanned vehicles and the notable developments on wireless communication technologies have made possible the design of cooperative applications involving multiple unmanned aerial and aquatic vehicles. However, the design of wireless networks, which include very dynamic and complex entities like unmanned vehicles, poses many challenges. Fortunately, unmanned aerial vehicle networks applications usually resemble those of unmanned aquatic vehicle networks such as military missions, or environmental monitoring among others. With the exception of the obvious differences in the lower layers of the wireless communications protocols, valid approaches used in the aerial medium could be easily adapted to the aquatic medium. This survey presents together the main features to take into account for designing unmanned aerial and aquatic vehicle networks with the aim to help the reader to transfer valid approaches and techniques between aerial and aquatic applications. We survey the results of more than 100 references on this topic published in international conferences and journals, and we also include the results of several bibliometric analyses in order to better present the status of the art and research directions on this scientific area."
}

@article{Sanford2007Highly,
author={Thomas B. Sanford and James F. Price and James B. Girton and Douglas C. Webb},
title={Highly resolved observations and simulations of the ocean response to a hurricane},
journal={Geophysical Research Letters},
volume={34},
number={13},
pages={},
year={2007},
keywords={hurricane‐ocean interaction, wind stress and inertial motions, hurricane wake, numerical upper ocean model, instruments and methods},
doi={10.1029/2007GL029679},
url={https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1029/2007GL029679},
eprint={https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1029/2007GL029679},
abstract={An autonomous, profiling float called EM‐APEX was developed to provide a quantitative and comprehensive description of the ocean side of hurricane‐ocean interaction. EM‐APEX measures temperature, salinity and pressure to CTD quality and relative horizontal velocity with an electric field sensor. Three prototype floats were air‐deployed into the upper ocean ahead of Hurricane Frances (2004). All worked properly and returned a highly resolved description of the upper ocean response to a category 4 hurricane. At a float launched 55 km to the right of the track, the hurricane generated large amplitude, inertially rotating velocity in the upper 120 m of the water column. Coincident with the hurricane passage there was intense vertical mixing that cooled the near surface layer by about 2.2°C. We find consistent model simulations of this event provided the wind stress is computed from the observed winds using a high wind‐speed saturated drag coefficient.}
}

@INPROCEEDINGS{Sarda2013Unmanned, 
author={E. I. Sarda and M. R. Dhanak}, 
booktitle={2013 OCEANS - San Diego}, 
title={Unmanned recovery of an AUV from a surface platform manuscript, oceans '13 MTS/IEEE San Diego}, 
year={2013}, 
pages={1-6}, 
abstract={Autonomous Underwater Vehicles (AUVs) are commonly used for a variety of applications, which require launch and recovery (L&R) of the vehicle from a surface craft. Here we describe work in support of an automated recovery of an AUV from an unmanned surface vehicle (USV), whereby longer endurance / range may be achieved for such applications as underwater surveys of remote sites. This may be one of many possible complex scenarios that involve multiple unmanned autonomous vehicles of various types working together autonomously to complete a multitude of tasks, maximizing their combined performance. The AUV used in this project is the Hydroid REMUS 100. The USV, which will serve as the moving surface platform that recovers the AUV, is a 14 foot Wave Adaptive Modular Vessel (WAM-V). In order to implement this type of system, various L&R methods need to be studied and analysed. This will help define a precise working environment, in which the system will be effective. Conceptual designs of two different recovery systems have been considered. For each design, an operating environment is defined, based on the characteristics of the model. Merits of each approach are being evaluated. To do so, “simple proof of concept prototypes” are built to test the feasibility and the effectiveness of each design. Here we describe one of the methods being considered. The main areas of focus of this project are device reliability, repeatability, robustness and precision. The desired outcome of this project is to provide a clear understanding of the ideal recovery method. The results of these studies will facilitate implementation of an effective automated recovery system, aiming to achieve a high degree of autonomy.}, 
keywords={autonomous underwater vehicles;AUV unmanned recovery;Hydroid REMUS 100 AUV;USV;WAM-V;autonomous underwater vehicles;autonomy degree;device precision;device reliability;device repeatability;device robustness;operating environment;surface platform manuscript;unmanned surface vehicle;vehicle launch-and-recovery;wave adaptive modular vessel;Cameras;Latches;Navigation;Sea surface;Transponders;Vehicles;AUV;Automated Recovery System;USV}, 
doi={10.23919/OCEANS.2013.6741386}, 
ISSN={0197-7385}, 
month={Sept},}

@inproceedings{Sarda2014Concept,
author={E. I. Sarda and M. R. Dhanak and K. D. von Ellenrieder}, 
title={Concept for a USV-based autonomous launch and recovery system}, 
booktitle={Proceedings of the ASNE Launch Recovery Symposium}, 
pages={335-353}, 
month={Nov}, 
year={2014},
}

@ARTICLE{Sarda2017USV, 
author={E. I. Sarda and M. R. Dhanak}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={A USV-Based Automated Launch and Recovery System for AUVs}, 
year={2017}, 
volume={42}, 
number={1}, 
pages={37-55}, 
abstract={In this paper, a concept design for automated launch and recovery (L&R) of a small autonomous underwater vehicle (AUV) from an unmanned surface vehicle (USV) is described and its feasibility is assessed through modeling and simulation. The design is being implemented on a selected catamaran USV for deployment of a REMUS 100 AUV. The concept for launch involves lowering the AUV into the water from the center of the USV while the latter is in motion. Recovery and retrieval involves aligning the two vehicles together through acoustic positioning, lowering of a thin line with an outrigger-type depressor wing from a winch on the USV, latching of the line by the AUV using a custom pincer-type onboard mechanism, and subsequent reeling of the line for vehicle retrieval. The USV being considered can operate effectively in low to moderate sea states. The length of the recovery line can be adjusted to facilitate AUV recovery from deeper locations beneath the USV in higher sea state. The L&R process is modeled in OrcaFlex to assess its feasibility and to conduct a parametric study in support of developing optimal operations of the launch and recovery system (LARS). The resulting system is being implemented on a USV.}, 
keywords={aerospace components;autonomous underwater vehicles;L&R system;LARS;OrcaFlex;REMUS 100 AUV;USV;acoustic positioning;automated launch and recovery system;autonomous underwater vehicle;outrigger-type depressor wing;pincer-type onboard mechanism;unmanned surface vehicle;Acoustics;Navigation;Sea state;Sea surface;Underwater vehicles;Vehicles;Winches;Autonomous underwater vehicle (AUV);OrcaFlex;depressor wing;launch and recovery (L&R);unmanned surface vehicle (USV)}, 
doi={10.1109/JOE.2016.2554679}, 
ISSN={0364-9059}, 
month={Jan},}

@Inbook{Sauze2011MOOP,
author="Sauz{\'e}, Colin and Neal, Mark", 
editor="Schlaefer, Alexander and Blaurock, Ole",
title="MOOP: A Miniature Sailing Robot Platform",
bookTitle="Robotic Sailing: Proceedings of the 4th International Robotic Sailing Conference",
year="2011",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="39--53",
abstract="MOOPs (Miniature Ocean Observation Platforms) are small, low cost, lightweight sailing robots intended to form a simple and flexible platform for developing robotic sailing concepts and for entering the Microtransat Challenge. They are only 72 cm long, weigh 4 kg and can be easily transported and deployed. A variety of different configurations have been tested with the intention of testing new wind sensor designs, performing experiments in autonomous power management, rudderless control and discovering wind direction without a wind sensor. Tests have been performed in lakes and at sea. During this process several limitations have been identified which cause difficulty sailing upwind, difficulty sailing downwind in single wing sail models and low hull speeds which make cause problems when fighting strong currents or tides. Future work will focus on more ocean going sailing and methods to reduce overall power consumption.",
isbn="978-3-642-22836-0",
doi="10.1007/978-3-642-22836-0_3",
url="http://dx.doi.org/10.1007/978-3-642-22836-0_3"
}

@techreport{Savitz2013US,
title={US navy employment options for unmanned surface vehicles (USVs)},
author={Savitz, Scott and Blickstein, Irv and Buryk, Peter and Button, Robert W and DeLuca, Paul and Dryden, James and Mastbaum, Jason and Osburg, Jan and Padilla, Philip and Potter, Amy},
year={2013},
institution={DTIC Document},
url={http://www.dtic.mil/cgi-bin/GetTRDoc?Location=U2&doc=GetTRDoc.pdf\&AD=ADA588081}
}

@inproceedings{Scerri2012Real,
author={Scerri, Paul and Velagapudi, Prasanna and Kannan, Balajee and Valada, Abhinav and Tomaszewski, Christopher and Dolan, John and Scerri, Adrian and Shankar, Kumar Shaurya and Bill, Luis and Kantor, George},
title={Real-world Testing of a Multi-robot Team},
booktitle={Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3},
series={AAMAS '12},
year={2012},
isbn={0-9817381-3-3, 978-0-9817381-3-0},
location={Valencia, Spain},
pages={1213--1214},
numpages={2},
url={http://dl.acm.org/citation.cfm?id=2343896.2343927},
acmid={2343927},
publisher={International Foundation for Autonomous Agents and Multiagent Systems},
address={Richland, SC},
keywords={autonomous sampling, autonomous surface vehicle, flood disaster mitigation, human-robot/agent interaction, multi-robot systems},
}

@Inbook{Scerri2012Flood, 
author="Scerri, Paul and Kannan, Balajee and Velagapudi, Pras and Macarthur, Kate and Stone, Peter and Taylor, Matt and Dolan, John and Farinelli, Alessandro and Chapman, Archie and Dias, Bernadine and Kantor, George",
title="Flood Disaster Mitigation: A Real-World Challenge Problem for Multi-agent Unmanned Surface Vehicles",
bookTitle="Advanced Agent Technology: AAMAS 2011 Workshops, AMPLE, AOSE, ARMS, DOCM3AS, ITMAS, Taipei, Taiwan, May 2-6, 2011. Revised Selected Papers",
year="2012",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="252--269",
isbn="978-3-642-27216-5",
doi="10.1007/978-3-642-27216-5_16",
url="http://dx.doi.org/10.1007/978-3-642-27216-5_16"
}

@INPROCEEDINGS{Schneider2016Assessing,
author={F. E. Schneider and D. Wildermuth},
booktitle={2016 17th International Carpathian Control Conference (ICCC)},
title={Assessing the search and rescue domain as an applied and realistic benchmark for robotic systems},
year={2016},
volume={},
number={},
pages={657-662},
abstract={Aim of this paper is to provide a review of the state of the art in Search and Rescue (SAR) robotics. Suitable robotic applications in the SAR domain are described, and SAR-specific demands and requirements on the various components of a robotic system are pictured. Current research and development in SAR robotics is outlined, and an overview of robotic systems and sub-systems currently in use in SAR and disaster response scenarios is given. Finally we show a number of possible research directions for SAR robots, which might change the overall design and operation of SAR robotics in the longer-term future. All this is meant to support our main idea of taking SAR applications as an applied benchmark for the Field Robotics (FR) domain.},
keywords={rescue robots;SAR robotics;disaster response scenarios;field robotics domain;search and rescue robotic systems;Benchmark testing;Decision support systems;Inspection;Land vehicles;Monitoring;Robots;Unmanned aerial vehicles;Field Robotics (FR);Search and Rescue (SAR);Unmanned Aerial Vehicle (UAV);Unmanned Ground Vehicle (UGV);applied benchmark;disaster response},
doi={10.1109/CarpathianCC.2016.7501177},
ISSN={},
month={May},}

@inproceedings{Schiaretti2017Survey_a,
address={Cham},
title={Survey on {Autonomous} {Surface} {Vessels}: {Part} {I} - {A} {New} {Detailed} {Definition} of {Autonomy} {Levels}},
isbn={978-3-319-68496-3},
url={https://doi.org/10.1007/978-3-319-68496-3_15},
doi={10.1007/978-3-319-68496-3_15},
abstract={Autonomous Surface Vessels (ASVs) have been involved in numerous projects since the 1990s. Many ASV projects have been successfully realized, and as many are still under development. Together with the development of those new autonomous vessels, the research on classification about ASVs has become important. The classifications provide clarity to researchers, designers, shipbuilders, equipment manufacturers, ship owners and operators, enabling accurate specification of the desired level of autonomy in design and operations. Moreover, the involved research paves the way to a clearer understanding of the opportunity and challenges of research on autonomous vehicles.},
booktitle={International {Conference} {Computational} {Logistics}},
publisher={Springer International Publishing},
author={Schiaretti, Matteo and Chen, Linying and Negenborn, Rudy R.},
editor={Bektaş, Tolga and Coniglio, Stefano and Martinez-Sykora, Antonio and Vo{\textbackslash}s s, Stefan},
year={2017},
pages={219--233},
annote={disciplina}
}

@inproceedings{Schiaretti2017Survey_b,
address={Cham},
title={Survey on {Autonomous} {Surface} {Vessels}: {Part} {II} - {Categorization} of 60 {Prototypes} and {Future} {Applications}},
isbn={978-3-319-68496-3},
url={https://doi.org/10.1007/978-3-319-68496-3_16},
doi={10.1007/978-3-319-68496-3_16},
abstract={Autonomous Surface Vessels (ASVs) have been developed for more than 20 years. Many ASV projects have been successfully realized, and as many are still under development. In literature there is a lack of research on the different applications and suitable environments for the deployment of ASV.},
booktitle={International {Conference} {Computational} {Logistics}},
publisher={Springer International Publishing},
author={Schiaretti, Matteo and Chen, Linying and Negenborn, Rudy R.},
editor={Bektaş, Tolga and Coniglio, Stefano and Martinez-Sykora, Antonio and Vo{\textbackslash}s s, Stefan},
year={2017},
keywords={rank5},
pages={234--252},
annote={disciplina}
}

@INPROCEEDINGS{Schofield2018Potential,
author={R. T. Schofield and G. A. Wilde and R. R. Murphy},
booktitle={2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={Potential Field Implementation for Move-to-Victim Behavior for a Lifeguard Assistant Unmanned Surface Vehicle},
year={2018},
volume={},
number={},
pages={1-2},
abstract={This paper presents a GPS potential field implementation for autonomous traversal of an Unmanned Surface Vehicle (USV) to a drowning victim in open water. The approach taken in this paper utilizes an attractive, GPS potential field with constant, linear and exponential magnitude profiles used to decelerate the USV as the USV approaches the location of the victim. The autonomous traversal and gradual deceleration of the USV will benefit lifeguards and other first responders who utilize the use of USVs in lifesaving situations, allowing for successful rescues involving mass drowning victims.},
keywords={Global Positioning System;marine vehicles;rescue robots;lifeguard assistant;GPS potential field implementation;autonomous traversal;USV;drowning victim;constant magnitude profiles;linear magnitude profiles;exponential magnitude profiles;unmanned surface vehicle;move-to-victim behavior;Global Positioning System;Meters;Pulse width modulation;Visualization;Autonomous robots},
doi={10.1109/SSRR.2018.8468602},
ISSN={2475-8426},
month={Aug},}


@misc{Sells2005Remote,
title={Remote marine craft system and methods of using same},
author={Sells, R. and Nand, R.},
url={https://www.google.com/patents/US20050124234},
year={2005},
month="jun",
publisher={Google Patents},
note={US Patent App. 10/994,657}
}

@article{Seo2014Real,
title={Real time detecting of harmful dinoflagellate Cochlodinium polykrikoides using unmanned surface vehicle in dynamic environments},
author={Seo, Sung Mok and Chung, Wan Kyun and Cho, Eun Seob},
journal={Journal of Environmental Biology},
volume={35},
number={3},
pages={563},
year={2014},
publisher={Triveni Enterprises}
}

@inproceedings{Serrano2015Icarus,
title={ICARUS and DARIUS approaches towards interoperability},
author={Daniel Serrano and Geert De Cubber and George Leventakis and Philippe Chrobocinski and Dave Moore and Shashank Govindaraj},
booktitle={8th IARP Workshop on Robotics for Risky Environment, Proceedings of the NATO STO Lecture Series SCI-271},
year={2015},
month={January},
address={Lisbon, Portugal},
pages={12},
abstract={The two FP7 projects ICARUS and DARIUS share a common objective which is to integrate the unmanned platforms in Search and Rescue operations and assess their added value through the development of an integrated system that will be tested in realistic conditions on the field. This paper describes the concept of both projects towards an optimized interoperability level in the three dimensions: organizational, procedural and technical interoperability, describing the system components and illustrating the results of the trials already performed.},
}

@techreport{SCI271,
AUTHOR={Several Authors},
TITLE={Command and Reporting Standards and Associated Development Tools for UxS},
HOWPUBLISHED={STO},
TYPE={STO},
NUMBER={STO-EN-SCI-271},
YEAR={2015},
notes={Educational Notes},
MONTH={January},
ISBN={978-92-837-2008-9},
doi={10.14339/STO-EN-SCI-271},
PUBLISHER={Science and Technology Organization},
INSTITUTION={North Atlantic Treaty Organization},
abstract={These Lecture Series are focused on the problem of standardization of interfaces to small unmanned vehicles. A particular focus is placed on multi-robot network-centered operations, where a team of unmanned air, ground and sea vehicles collaborate as a coordinated, seamlessly-integrated team. Interoperability is the ability of these robots to operate in synergy to the execution of assigned missions and the capability of diverse systems and organizations to work together, sharing data, intelligence and resources. When developing or integrating a system, advantage should be taken from existing standardization approaches while avoiding the risk of inheriting undesirable or restrictive complexity. Topics covered: a) Review the need to have standards to facilitate coordination and cooperation of unmanned systems; b) Overview existing interoperability standards; c) Overview some open source tools that can be used in the development of standard compliant unmanned vehicles; d) Overview, amongst others the following standards and frameworks: STANAG 4586, JAUS, MOOS and ROS; e) Hands on tutorials.},
}

@Article{Shah2016Resolution,
author="Shah, Brual C.
and {\v{S}}vec, Petr
and Bertaska, Ivan R.
and Sinisterra, Armando J.
and Klinger, Wilhelm
and von Ellenrieder, Karl
and Dhanak, Manhar
and Gupta, Satyandra K.",
title="Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic",
journal="Autonomous Robots",
year="2016",
volume="40",
number="7",
pages="1139--1163",
abstract="The growing variety and complexity of marine research and application oriented tasks requires unmanned surface vehicles (USVs) to operate fully autonomously over long time horizons even in environments with significant civilian traffic. In order to address this challenge, we have developed a lattice-based 5D trajectory planner for USVs. The planner estimates collision risk and reasons about the availability of contingency maneuvers to counteract unpredictable behaviors of civilian vessels. The planner also incorporates avoidance behaviors of the vessels into the search for a dynamically feasible trajectory to minimize collision risk. In order to be computationally efficient, it dynamically scales the control action primitives of a trajectory based on the distribution and concentration of civilian vessels while preserving the dynamical feasibility of the primitives. We present a novel congestion metric to compare the complexity of different scenarios when evaluating the performance of the planner. Our results demonstrate that the basic version of the risk and contingency-aware planner (RCAP) significantly decreases the number of collisions compared to a baseline, velocity obstacles based planner, especially in complex scenarios with a high number of civilian vessels. The adaptive version of the planner (A-RCAP) improves the computational performance of RCAP by 500{\%}. This leads to a high replanning rate, which allows shorter traversal distances and smaller arrival times, while ensuring comparable incidence of collisions.",
issn="1573-7527",
doi="10.1007/s10514-015-9529-x",
url="http://dx.doi.org/10.1007/s10514-015-9529-x"
}

@ARTICLE{Shi2017Advanced, 
author={Y. Shi and C. Shen and H. Fang and H. Li}, 
journal={IEEE/ASME Transactions on Mechatronics}, 
title={Advanced Control in Marine Mechatronic Systems: A Survey}, 
year={2017}, 
volume={22}, 
number={3}, 
pages={1121-1131}, 
abstract={This paper surveys the recent advances in marine mechatronic systems from a control perspective. The survey is by no means exhaustive, but introduces some notable results in marine control area. New developments in terms of control system designs for surface vessels, underwater robotic vehicles, profiling floats, underwater gliders, wave energy converters, and offshore wind turbines are briefly reviewed. In addition, a few avenues for future research are identified.}, 
keywords={Backstepping;Mechatronics;Robots;Sea surface;Trajectory tracking;Uncertainty;Advanced control;Marine mechatronics;ocean wave energy converter (OWEC);offshore wind turbine;profiling float;surface vessel;underwater glider;underwater robotic vehicle (URV)}, 
doi={10.1109/TMECH.2017.2660528}, 
ISSN={1083-4435}, 
month={June},}

@misc{Shiffler1998Unmanned,
title={Unmanned sea surface vehicle having a personal watercraft hull form},
author={Shiffler, M.E. and Loy, L.W.},
url={https://www.google.com/patents/US5713293},
year={1998},
month="Feb",
publisher={Google Patents},
note={US Patent 5,713,293}
}

@article{Shimizu2017Databased,
title={Databased Fluctuating Wi-Fi Signal Simulation Environment for Evaluating the Control of Robots},
author={Masaru Shimizu and Tomoichi Takahashi},
journal={Intelligence \& Information},
volume={29},
number={2},
pages={567-573},
year={2017},
doi={10.3156/jsoft.29.2_567},
abstract={Robots were used at the site of the World Trade Center disaster, and they are being used to explore the interior of the Fukushima Daiichi Nuclear Plant (FDNP). Robots will be used at the FDNP for the next few decades, until the nuclear reactor is finally decommissioned. Wired communications systems have been used to teleoperate robots in hazardous areas where humans cannot work. In this paper, we show the fluctuation of Wi-Fi power strength in a real environment and that the fluctuations utilization is one of the key points to be considered while developing rescue robots for disaster-prone areas. We propose a simulation environment that simulates the fluctuation of the Wi-Fi power strength with a database and evaluates the performance of the robot with unstable Wi-Fi connectivity.}
}

@article{Shirodkar2014Autonomous,
title={Autonomous Surface Craft and a Significant Operating System--an Overview},
author={Atish P. Shirodkar and Samarth Borkar},
issn={2309-4893},
journal={International Journal of Advanced Engineering and Global Technology},
volume={2},
number={6},
month={June},
year={2014},
abstract={Autonomous surface crafts have shown various transformations in their design \& architecture, sensors, power source and operating / communication systems since 1993. Different operating systems used earlier envisaged smart phone, with a combination of 3G, WiFi and a blue tooth; Microcontrollers; Microsoft Windows to Linux based operating systems. Each of these systems though served the purpose; the present ocean engineering systems demands more ease at command and control in autonomous assistance of ASCs for successful maritime activities. This paper gives an overview of various types of earlier operating systems and describes one of the robust and virus free ubuntu Linux based operating system, with Client-Server program in C language, highlighting its use in Oceanography. One client-server program written by us is also enclosed in the paper.},
 }
 
@INPROCEEDINGS{Shrewsbury2013RESPOND,
author={B. Shrewsbury and Z. Henkel and Chang Young Kim and R. R. Murphy},
booktitle={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={RESPOND-R test instrument},
year={2013},
volume={},
number={},
pages={1-6},
abstract={The RESPOND-R framework is a modular, distributed data logging framework built for the purpose of studying Emergency Informatics as it relates to human-robot performance during disaster responses. Currently deployed systems have limited data logging capabilities, with few incorporating heterogeneous robotic systems. Current systems focus on human performance and event information, but often incorporate restricted ontologies that inhibit real-time sensor logging of robotic systems. RESPOND-R provides broad logging coverage of robotic systems and human performance data, bridging the gap between the heterogeneous loggers and current emergency management systems. A Packbot 510 UGV, an AirRobot 100B sUAS, an AEOS Marcy USV, and nuclear biological chemical (NBC) sensors have been integrated into RESPOND-R. The paper describes how RESPOND-R supported data collection during a 2013 radiological forensics field exercise. The data has been used to analyze autonomous flight patterns for nuclear forensics and to isolate and identify the cause of a sensing anomaly.},
keywords={autonomous aerial vehicles;data loggers;disasters;emergency management;human-robot interaction;rescue robots;AEOS Marcy USV;AirRobot 100B sUAS;NBC sensors;Packbot 510 UGV;RESPOND-R test instrument;autonomous flight patterns;disaster responses;distributed data logging framework;emergency informatics;emergency management systems;heterogeneous loggers;heterogeneous robotic systems;human-robot performance;modular data logging framework;nuclear biological chemical sensors;nuclear forensics;ontologies;radiological forensics field exercise;real-time sensor logging;sensing anomaly;Cameras;Instruments;Robot kinematics;Robot sensing systems;Standards;Streaming media;data to decision;disaster;emergency informatics;logging;ros},
doi={10.1109/SSRR.2013.6719369},
ISSN={2374-3247},
month={Oct},}
 
@INPROCEEDINGS{Silva2014Saliency, 
author={J. Silva and R. Mendonça and F. Marques and P. Rodrigues and P. Santana and J. Barata}, 
booktitle={2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)}, 
title={Saliency-based cooperative landing of a multirotor aerial vehicle on an autonomous surface vehicle}, 
year={2014}, 
pages={1523-1530}, 
abstract={This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.}, 
keywords={aircraft landing guidance;autonomous aerial vehicles;object tracking;robot vision;ASV;UAV;autonomous surface vehicle;cooperative strategy;field of view;helipad behavioural search;helipad tracking;learning saliency-based mechanism;multirotor unmanned aerial vehicle;physical robots;saliency-based cooperative landing;takeoff;vision-based landing phase;visual tracking;Cameras;Inspection;Robot vision systems;Search problems;Vehicles;Visualization}, 
doi={10.1109/ROBIO.2014.7090550}, 
month={Dec},}

@article{Simetti2012Civilian,
title="Civilian Harbour Protection: Interception of Suspect Vessels with Unmanned Surface Vehicles",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="435 - 440",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00074",
url="http://www.sciencedirect.com/science/article/pii/S147466701631268X",
author="E. Simetti and A. Turetta and S. Torelli and G. Casalino",
keywords="Marine systems",
keywords="Autonomous vehicles",
keywords="Optimization",
keywords="Path planning",
keywords="Obstacle avoidance",
abstract="In the last decade, the security of civilian transportation hubs has received an increasing focus. Civilian harbors are no exception, and to this aim Unmanned Surface Vehicles could be exploited for patrolling purposes and to investigate suspect situations, increasing the effectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. The use of a team of USVs for the security of civilian harbors is the subject of an on-going research project between DIST and Selex-SI, a leading player for homeland security systems. This paper presents the latest results of the project, which are centered on the problem of intercepting a suspect vehicle. Both the off-line optimization of the positioning of the USV fleet and the on-line selection of the most suitable USV are tackled."
}

@inproceedings{Siyang2016dev,
	title={Development of unmanned surface vehicle for smart water quality inspector},
	url={https://ir.sc.mahidol.ac.th/handle/123456789/622},
	pages={1--5},
	booktitle={International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology},
	author={Siyang, S. and Kerdcharoen, T.},
	date={2016-06}
}

@INPROCEEDINGS{Scholtz2004Evaluation, 
author={J. Scholtz and J. Young and J. L. Drury and H. A. Yanco}, 
booktitle={Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on}, 
title={Evaluation of human-robot interaction awareness in search and rescue}, 
year={2004}, 
volume={3}, 
pages={2327-2332 Vol.3}, 
abstract={In this paper we report on the analysis of critical incidents during an urban search and rescue robot competition where critical incidents are defined as a situation where the robot could potentially cause damage to itself, the victim, or the environment. We look at the features present in the human-robot interface that contributed to success in different tasks needed in urban search and rescue and present guidelines for human-robot interaction design.}, 
keywords={man-machine systems;mobile robots;service robots;social aspects of automation;critical incident analysis;human-robot interaction;urban search and rescue robot competition;Guidelines;Human robot interaction;Mobile robots;NIST;Navigation;Neutron spin echo;Remotely operated vehicles;Robustness;Testing;Vehicle driving}, 
doi={10.1109/ROBOT.2004.1307409}, 
ISSN={1050-4729}, 
month={April},
}

@article{Shi2016Detection,
author={Pengfei Shi and Xinnan Fan and Jianjun Ni and Gengren Wang},
title={A detection and classification approach for underwater dam cracks},
journal={Structural Health Monitoring},
volume={15},
number={5},
pages={541-554},
year={2016},
doi={10.1177/1475921716651039},
URL={http://dx.doi.org/10.1177/1475921716651039},
eprint={http://dx.doi.org/10.1177/1475921716651039},
abstract={ Underwater dam crack detection and classification based on visible images is a challenging task. The underwater environment is very complex with uneven illumination and serious noise problems, which often leads to the distortion of detection. In addition, there are few methods suitable for underwater dam crack classification. To solve these problems, a novel underwater dam crack detection and classification approach is proposed. Firstly, a dodging algorithm is used to eliminate the uneven illumination in the underwater visible images. Subsequently, a crack detection approach is proposed, where the local characteristics of image blocks and the global characteristics of connected domains are both used based on the analysis of the statistical properties of dam crack images. Finally, an improved evidence theory-based crack classification algorithm is proposed after the crack detection. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively in complex underwater environments. }
}

@inproceedings{Shojaei2018Feasibility,
author = {Shojaei, Alireza and Moud, Hashem Izadi and Razkenari, Mohamad and Flood, Ian},
file = {:home/darlan/Dropbox/Survey Barcos - Produto Final/Shojaei2018Feasibility.pdf:pdf},
mendeley-groups = {Survey Disaster USV},
month = {June},
booktitle={Proceedings of the 2018 IISE Annual Conference},
title = {Feasibility Study of Small Unmanned Surface Vehicle Use in Built Environment Assessment},
year = {2018}
}

@article{Shojaei2018Proof,
author = {Shojaei, Alireza and Moud, Hashem Izadi and Flood, Ian},
doi = {10.1213/01.ANE.0000149897.87025.A8},
file = {:home/darlan/Darlan/Academic-Research/Master/Research/Unmanned-Surface-Vehicle/Related-Work/Shojaei2018Proof.pdf:pdf},
isbn = {9780784411094},
journal = {Proceeding of Construction Research Congress 2018},
pages = {148--157},
title = {{Proof of Concept for the Use of Small Unmanned Surface Vehicle in Built Environment Management}},
url = {https://ascelibrary.org/doi/pdf/10.1061/9780784481301},
year = {2018}
}



@article{Showalter2004Legal,
title={The legal status of autonomous underwater vehicles},
author={Showalter, Stephanie},
journal={Marine Technology Society Journal},
volume={38},
number={1},
pages={80--83},
year={2004},
publisher={Washington, DC: Marine Technology Society}
}


@inproceedings{Smith2011Controlled,
author={Ryan N. Smith and Matthew Dunbabin},
year={2011},
pages={1--10},
address={Monash University, Melbourne, VIC},
booktitle={The Australasian Conference on Robotics and Automation 2011},
editor={Tom Drummond},
title={Controlled drift: an investigation into the controllability of underwater vehicles with minimal actuation},
publisher={Australian Robotics \& Automation Association},
keywords={Autonomous underwater vehicle , Ocean engineering, Physical oceanography, Oceanography, Ocean modelling},
abstract={This paper is directed towards providing an answer to the question, {''}Can you control the trajectory of a Lagrangian float?{''} Being a float that has minimal actuation (only buoyancy control), their horizontal trajectory is dictated through drifting with ocean currents. However, with the appropriate vertical actuation and utilising spatio-temporal variations in water speed and direction, we show here that broad controllabilty results can be met such as waypoint following to keep a float inside of a bay or out of a designated region. This paper extends theory experimen- tally evaluted on horizontally actuated Autonomous Underwater Vehicles (AUVs) for trajectory control utilising ocean forecast models and presents an initial investi- gation into the controllability of these minimally actuated drifting AUVs. Simulated results for offshore coastal and within highly dynamic tidal bays illustrate two tech- niques with the promise for an affirmative answer to the posed question above. },
url={https://eprints.qut.edu.au/48216/}
}


@ARTICLE{Smith2014Controlling, 
author={R. N. Smith and V. T. Huynh}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={Controlling Buoyancy-Driven Profiling Floats for Applications in Ocean Observation}, 
year={2014}, 
volume={39}, 
number={3}, 
pages={571-586}, 
abstract={Establishing a persistent presence in the ocean with an autonomous underwater vehicle (AUV) capable of observing temporal variability of large-scale ocean processes requires a unique sensor platform. In this paper, we examine the utility of vehicles that can only control their depth in the water column for such extended deployments. We present a strategy that utilizes ocean model predictions to facilitate a basic level of autonomy and enables general control for these profiling floats. The proposed method is based on experimentally validated techniques for utilizing ocean current models to control autonomous gliders. With the appropriate vertical actuation, and utilizing spatio-temporal variations in water speed and direction, we show that general controllability results can be met. First, we apply an A* planner to a local controllability map generated from predictions of ocean currents. This computes a path between start and goal waypoints that has the highest likelihood of successful execution. A computed depth plan is generated with a model-predictive controller (MPC), and selects the depths for the vehicle so that ambient currents guide it toward the goal. Mission constraints are included to simulate and motivate a practical data collection mission. Results are presented in simulation for a mission off the coast of Los Angeles, CA, USA, that show encouraging results in the ability of a drifting vehicle to reach a desired location.}, 
keywords={autonomous underwater vehicles;predictive control;A* planner;AUV;Los Angeles;MPC;USA;autonomous gliders;autonomous underwater vehicle;buoyancy-driven profiling floats;local controllability map;model predictive control;ocean current models;ocean observation;Controllability;Mathematical model;Oceans;Open area test sites;Planning;Predictive models;Vehicles;Autonomous underwater vehicle (AUV);model-predictive control (MPC);ocean model;path planning;profiling float}, 
doi={10.1109/JOE.2013.2261895}, 
ISSN={0364-9059}, 
month={July}
}

@mastersthesis{Smith2014Converting,
title={Converting a manned LCU into an unmanned surface vehicle (USV): an open systems architecture (OSA) case study},
author={Smith, Montrell F},
year={2014},
institution={DTIC Document}
}

@inproceedings{Solarski2010Self,
title={Self Deployed Robotic Network for Long Range Semiautomatic Operation-Robotics Network for Distance Data Connection, Areal Signal Connection Coverage or Areal Data Acquisition.},
author={Solarski, Tomas and Vala, David and Koziorek, Jiri},
booktitle={ICINCO (2)},
pages={427--432},
year={2010}
}

@INPROCEEDINGS{Sorbara2015DeepRuler, 
author={A. Sorbara and A. Ranieri and E. Zereik and M. Bibuli and G. Bruzzone and M. Caccia}, 
booktitle={OCEANS 2015 - Genova}, 
title={DeepRuler: Design, execute and evaluate path-following for robotic unmanned vehicles and experiment repeatability}, 
year={2015}, 
pages={1-7}, 
abstract={In robotics, nowadays, there is a strong evergrowing interest in executing replicable experiments to assess robots performance. This demand can't be easy fulfilled without established ad-hoc procedures to be followed. To this aim, an innovative software framework named DeepRuler is proposed. The presented software is able to design, automatically execute and evaluate highly replicable path-following experiments, minimizing the burden for the human operator of the robot. Among the many advantages of DeepRuler, there is its ease of integration with almost every kind of robot or simulator, without much effort left on the shoulders of the software developer. Another key feature is its open-source nature and its plugin-based structure, that allows the community to expand its functions in a very modular way.}, 
keywords={public domain software;remotely operated vehicles;robots;underwater vehicles;DeepRuler;experiment repeatability;open-source nature;path-following experiments;plugin-based structure;robotic unmanned vehicles;robotics;Computer architecture;Robots;Software;Steady-state;Trajectory;Vehicles}, 
doi={10.1109/OCEANS-Genova.2015.7271759}, 
month={May},}

@ARTICLE{Sorbara2015Testing, 
author={A. Sorbara and A. Ranieri and E. Saggini and E. Zereik and M. Bibuli and G. Bruzzone and E. Riccomagno and M. Caccia}, 
journal={IEEE Robotics Automation Magazine}, 
title={Testing the Waters: Design of Replicable Experiments for Performance Assessment of Marine Robotic Platforms}, 
year={2015}, 
volume={22}, 
number={3}, 
pages={62-71}, 
abstract={Robotics is becoming part of our daily life through home automation (called domotic) and assistive applications that are taking place in habitations, up to industrial and service employments. With this strict cooperation between humans and robots, it is of absolute necessity to assess the robotic systems' capabilities and performance to ensure safety and reliability according to actual and significant criteria and parameters. Within this context, there are delays in technology transfer from research frameworks toward actual applicative scenarios. These delays are caused by the lack of methodologies and standardized procedures for the experiment execution and result comparison. A further restraint to the needed process of technology transfer is due to the inability to understand the actual capabilities of the systems and to be aware and confident (or not) about what they can be realistically employed for. In many cases, this can also turn into the inability to define specific regulations for the employment of robotic platforms to comply with the current laws. This is the case for marine robotics. Tethered vehicles [e.g., remotely operated vehicles (ROVs)] are considered part of the vessel equipment when they are operated from a ship (because of the physical connection provided by the cable). Conversely, whenever autonomous systems, such as unmanned surface vehicles (USVs) or autonomous underwater vehicles are commanded through an acoustic or Wi-Fi/radio communication link, they are considered as navigating platforms and are subject to the regulation in force. For the commercial employment of these vehicles, it is then necessary to strongly assess the vehicle's capabilities in a standardized way, to guarantee the operating performance and evaluate limitations of the target system.}, 
keywords={autonomous underwater vehicles;delays;marine control;marine navigation;ships;ROVs;USVs;Wi-Fi-radio communication link;acoustic communication link;autonomous systems;autonomous underwater vehicles;delays;home automation;marine robotic platforms;navigating platforms;performance assessment;remotely operated vehicles;robotic platforms;robotic system capability assessment;ship;technology transfer process;tethered vehicles;unmanned surface vehicles;vessel equipment;Home automation;Marine technology;Measurement;Robot kinematics;Service robots;Technology transfer;Telemetry}, 
doi={10.1109/MRA.2015.2448311}, 
ISSN={1070-9932}, 
month={Sept},}

@INPROCEEDINGS{Souza2016Modulation, 
author={F. A. de Souza and B. S. Chang and R. D. Souza and G. Brante and M. E. Pellenz}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Modulation order optimization for energy efficient underwater acoustic communications}, 
year={2016}, 
pages={1-4}, 
abstract={In this paper an optimization process to obtain the optimal code rate, SNR and modulation order for energy efficient underwater communications is presented. It was seen that it is possible to further decrease the consumption when compared to the binary case considering code rate optimization in conjunction with the selection of the optimum modulation order, while achieving higher data transmission rates.}, 
keywords={energy conservation;modulation coding;underwater acoustic communication;code rate optimization;data transmission rates;energy efficient underwater acoustic communications;modulation order optimization;optimum modulation order;Bandwidth;Bit rate;Energy consumption;Fading channels;Frequency modulation;Signal to noise ratio;Underwater acoustic networks;energy consumption;modulation order optimization}, 
doi={10.1109/OCEANS.2016.7761369}, 
month={Sept},}

@article{Sparrow2016When,
author={Sparrow,Robert and Lucas,George},
year={2016},
month={Autumn},
title={WHEN ROBOTS RULE THE WAVES?},
journal={Naval War College Review},
volume={69},
number={4},
pages={49-78},
note={Copyright - Copyright Superintendent of Documents, U.S. Naval War College Autumn 2016},
abstract={Robotic weapons are widely believed to be the future of war. Dramatic progress in the science and engineering of robotics, alongside the perceived success of the US Predator and Reaper drones in Iraq and Afghanistan, has led many commentators to conclude that the wars of the twenty-first century increasingly will be fought, by industrialized nations at least, using remotely piloted and autonomous weapon systems (AWSs). This belief also is playing an important role in shaping the thinking and practice of militaries around the world, which are scrambling to purchase drones and to develop and deploy robots for both combat and combat-support roles. Thus, for instance, all the US armed services have published "roadmap" documents detailing ambitious plans to integrate unmanned systems (UMSs) into their forces. The new enthusiasm for robots in military and policy circles has led to philosophers and ethicists paying increased attention to issues surrounding the military uses of robots.},
keywords={Military; Military technology; Ethics; Casualties; Robots; War; Weapons; Philosophers; Drones},
isbn={00281484},
language={English},
url={https://search.proquest.com/docview/1827605379?accountid=8034},
} 

@inproceedings{Staranowicz2011Survey,
 author={Staranowicz, Aaron and Mariottini, Gian Luca},
 title={A Survey and Comparison of Commercial and Open-source Robotic Simulator Software},
 booktitle={Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments},
 series={PETRA '11},
 year={2011},
 isbn={978-1-4503-0772-7},
 location={Heraklion, Crete, Greece},
 pages={56:1--56:8},
 articleno={56},
 numpages={8},
 url={http://doi.acm.org/10.1145/2141622.2141689},
 doi={10.1145/2141622.2141689},
 acmid={2141689},
 publisher={ACM},
 address={New York, NY, USA},
 keywords={ROS, gazebo, open-source, player, portability, robotic simulators, stage, survey, virtual environments for assistive applications},
} 

@article{Statheros2008Autonomous,
  title={Autonomous ship collision avoidance navigation concepts, technologies and techniques},
  author={Statheros, Thomas and Howells, Gareth and Maier, Klaus McDonald},
  journal={Journal of navigation},
  volume={61},
  number={01},
  pages={129--142},
  year={2008},
  publisher={Cambridge Univ Press}
}

@inproceedings{Stealey2008Nims,
author={M. J. Stealey and A. Singh and M. A. Batalin and B. Jordan and W. J. Kaiser}, 
booktitle={2008 IEEE International Conference on Robotics and Automation}, 
title={NIMS-AQ: A novel system for autonomous sensing of aquatic environments}, 
year={2008}, 
pages={621-628}, 
abstract={As concern for water resource availability increases, so does the need for intelligent aquatic sensing applications. The requirements, and complexity of such applications has also increased due to demands for: 1) broad spatial coverage and high spatial resolution monitoring, 2) capability for resolving fine scale spatiotemporal dynamics and 3) the need for rapid system deployment with semi-autonomous operation. With these criteria in mind, we present the Aquatic Networked InfoMechanical System (NIMS-AQ). NIMS-AQ was developed based on experience gained from engineering research and collaboration with aquatic scientists and environmental engineers during several in-field measurement campaigns [1], [2], [3]. In this paper we demonstrate the effectiveness of NIMS- AQ through two experimental sensing campaigns encompassing both river and lake environments. Each campaign is centered around critical water resource monitoring objectives such as temperature, flow and contaminant levels. Experimental results for autonomous depth profiling using a submersible sonar system as well as adaptive sampling algorithms guided by phenomena models are presented herein. The found results conform with our objectives for rapid and systematic operation. Preliminary studies also indicate the systems viability for use with an autonomous iterative experiment design for environmental applications (A-IDEA) methodology that is currently under development. The IDEA methodology [1] provides effective characterization of spatiotemporal dynamics in aquatic environments. A-IDEA, as it is to be implemented on the NIMS-AQ platform, is also described.}, 
keywords={intelligent sensors;mobile robots;underwater vehicles;water pollution;water resources;NIMS-AQ;aquatic networked infomechanical system;autonomous sensing;broad spatial coverage;fine scale spatiotemporal dynamics;high spatial resolution monitoring;intelligent aquatic sensing;water resource availability;Availability;Collaboration;Gain measurement;Lakes;Monitoring;Pollution measurement;Rivers;Spatial resolution;Spatiotemporal phenomena;Water resources}, 
doi={10.1109/ROBOT.2008.4543275}, 
ISSN={1050-4729}, 
month={May},}

@INPROCEEDINGS{Steinbauer2014R3, 
author={G. Steinbauer and J. Maurer and H. Krajnz}, 
booktitle={2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)}, 
title={R3: Request a rescue robot}, 
year={2014}, 
pages={1-2}, 
abstract={Although, robot technology is helpful in the mitigation of disasters and there are many examples of exemplary deployments after disasters in near future responder will not build up capabilities in this direction. Reasons for that are mainly economical aspects and limited technological maturity. One way to go around and to foster deployment in the field is to allow responder to timely request experts and robots from external institution. In this paper we motivated the development of such a model and pointed out the issue that have to be tackled.}, 
keywords={disasters;rescue robots;R3 framework;disaster mitigation;economical aspects;external institution;request-a-rescue robot;robot technology;technological maturity;Educational institutions;Law;Robots;Safety;Security;Training}, 
doi={10.1109/SSRR.2014.7017682}, 
ISSN={2374-3247}, 
month={Oct},}

@INPROCEEDINGS{Steinfeld2004Interface, 
author={A. Steinfeld}, 
booktitle={Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on}, 
title={Interface lessons for fully and semi-autonomous mobile robots}, 
year={2004}, 
volume={3}, 
pages={2752-2757 Vol.3}, 
abstract={Experts from the Robotics Institute were individually interviewed for their insight on interface lessons for fully and semi-autonomous mobile robots. Information was collected on four main themes: challenges, things that seem to work well, things that do not work well, and interface wisdom. The comments were then condensed and pooled into seven high-level categories: safety, remote awareness, control, command inputs, status and state, recovery, and interface design. Classification of expert comments was relatively straightforward in that many interviewees identified consistent material. This suggests that those producing interfaces for fully and semi-autonomous mobile robots should, at the minimum, ensure that they have addressed these broad topics.}, 
keywords={mobile robots;interface design;interface lessons;interface wisdom;remote awareness;semiautonomous mobile robots;Best practices;Collaboration;Documentation;Human factors;Human robot interaction;Mobile robots;Robotics and automation;Safety;Service robots;Vehicles}, 
doi={10.1109/ROBOT.2004.1307477}, 
ISSN={1050-4729}, 
month={April},}

@INPROCEEDINGS{Steimle2006Unmmaned, 
author={E. T. Steimle and M. L. Hall}, 
booktitle={OCEANS 2006}, 
title={Unmanned Surface Vehicles as Environmental Monitoring and Assessment Tools}, 
year={2006}, 
pages={1-5}, 
abstract={The monitoring of coastal and estuarine waters is hampered by the spatial and temporal restrictions inherent in gathering discrete samples and transporting them to a laboratory for testing. The development of in situ instrumentation now makes possible the collection of real-time data, and with the incorporation of remotely operated vehicles a much greater data density on both a temporal and spatial scale is achieved. Unmanned surface vehicles (USVs) are finding a niche in coastal and estuarine systems as a tool for rapid and cost effective deployment platforms. In this paper we will discuss an USV developed at the University of South Florida St. Petersburg's Environmental Science and Policy department}, 
keywords={data acquisition;oceanography;remotely operated vehicles;underwater vehicles;Environmental Science and Policy department;USV;University Of South Florida St. Petersburg;coastal systems;coastal waters;cost effective deployment platforms;data density;environment assessment;environmental monitoring;estuarine systems;estuarine waters;in situ instrumentation;real-time data collection;remotely operated vehicles;spatial restrictions;temporal restrictions;unmanned surface vehicles;Batteries;Communication system control;Costs;Instruments;Monitoring;Ocean temperature;Remotely operated vehicles;Sea measurements;Sea surface;Unmanned aerial vehicles}, 
doi={10.1109/OCEANS.2006.306949}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Steimle2009Unmanned, 
author={E. T. Steimle and R. R. Murphy and M. Lindemuth and M. L. Hall}, 
booktitle={OCEANS 2009}, 
title={Unmanned marine vehicle use at Hurricanes Wilma and Ike}, 
year={2009}, 
pages={1-6}, 
abstract={The Center for Robot-Assisted Search and Rescue has fielded two AEOS man-portable unmanned surface, a YSI Ecomapper and VideoRay underwater marine vehicle in the aftermath of Hurricanes Wilma (2005, Florida) and Ike (2008, Texas) for littoral structural inspection. By providing above and below waterline inspection of roads, bridges, seawalls, robots could cut the time involved in determining how to repair a bridge from on order of a month to a few days and could eliminate the need for divers to risk their lives trying to see and move around debris in cloudy, fast-moving currents. For example, using a DIDSON acoustic camera, healthy pilings were seen at Rollover Pass Bridge but scour was seen at the Marco Island bridge. The AEOS unmanned surface vehicle is a catamaran style design with a central T-shaped chassis that supports the electronics, instrumentation and control system. The footprint is 1.9m long and 1.2m wide with a minimum draft of 0.3m. The USV is engineered for autonomous and teleoperated control. The custom software allows for point and click waypoint inputs through a Google Earth style interface. All data and system information is georeferenced and databased. Besides illustrating the utility of unmanned marine vehicles for hurricane damage assessment, the field work identified many open research questions for unmanned surface vehicles (USVs). Fully autonomous control in USVs is hampered by the loss of GPS and inaccuracies near structures, such as going under bridges as well as rough seas and currents. Even with accurate GPS, the simultaneous localization and mapping (SLAM) for super- and sub-structures is difficult. USVs suffer from the limitations of wireless communications, including intermittent loss and low bandwidth compared with the amount of video imagery being transmitted. Atmospheric effects such as fog and spray interfere with autonomous sensing and avoidance as well as teleoperation.}, 
keywords={bridges (structures);oceanographic equipment;remotely operated vehicles;roads;storms;underwater vehicles;AD 2005;AD 2008;AEOS unmanned surface vehicle;DIDSON acoustic camera;Florida;Google Earth style interface;Hurricane Ike;Hurricane Wilma;Marco Island bridge;Rollover Pass Bridge;SLAM technique;Texas;VideoRay underwater marine vehicle;YSI Ecomapper;bridge inspection;catamaran;littoral structural inspection;road inspection;seawall inspection;simultaneous localization and mapping technique;unmanned marine vehicle;Bridges;Global Positioning System;Hurricanes;Inspection;Marine vehicles;Remotely operated vehicles;Roads;Robots;Sea surface;Simultaneous localization and mapping}, 
doi={10.23919/OCEANS.2009.5422201}, 
ISSN={0197-7385}, 
month={Oct},}

@Inbook{Stelzer2011History,
author="Stelzer, Roland
and Jafarmadar, Karim",
editor="Schlaefer, Alexander
and Blaurock, Ole",
title="History and Recent Developments in Robotic Sailing",
bookTitle="Robotic Sailing: Proceedings of the 4th International Robotic Sailing Conference",
year="2011",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="3--23",
abstract="Robotic sailing boats represent a rapidly emerging technology for various tasks on lakes and oceans. In this paper we give an overview about the main building blocks of a robotic sailing boat for controlling the rudder and the sails. History of robotic sailing includes developments in mechanical, electronic, and intelligent self-steering systems as well as automatic sail control. Furthermore advantages and disadvantages of rigid wing sails in comparison to traditional fabric sails are illuminated. Early examples of robotic sailing boats and recent developments, stimulated by robotic sailing competitions such as Microtransat Challenge, SailBot and World Robotic Sailing Championships are presented. We conclude with a brief outlook on potential applications in the field of robotic sailing.",
isbn="978-3-642-22836-0",
doi="10.1007/978-3-642-22836-0_1",
url="http://dx.doi.org/10.1007/978-3-642-22836-0_1"
}

@Inbook{Stelzer2013Study,
author="Stelzer, Roland
and Dalmau, Daniel Estarriola",
editor="Sauz{\'e}, Colin
and Finnis, James",
title="A Study on Potential Energy Savings by the Use of a Balanced Rig on a Robotic Sailing Boat",
bookTitle="Robotic Sailing 2012: Proceedings of the 5th International Robotic Sailing Conference",
year="2013",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="87--93",
abstract="The drive for the sail trim has been identified as one of the largest consumers on the autonomous sailing boat ASV Roboat. The presented work analyses the potential energy savings of a balanced rig compared to the conventional sloop rig, which is currently in use on this boat. Results of a computer simulation show that a balanced rig can save about two-thirds of the power needed for the sail trim.",
isbn="978-3-642-33084-1",
doi="10.1007/978-3-642-33084-1_8",
url="http://dx.doi.org/10.1007/978-3-642-33084-1_8"
}

@article{Stellman2008Enduring,
title={Enduring mental health morbidity and social function impairment in world trade center rescue, recovery, and cleanup workers: the psychological dimension of an environmental health disaster},
author={Stellman, Jeanne Mager and Smith, Rebecca P and Katz, Craig L and Sharma, Vansh and Charney, Dennis S and Herbert, Robin and Moline, Jacqueline and Luft, Benjamin J and Markowitz, Steven and Udasin, Iris and others},
journal={Environmental health perspectives},
volume={116},
number={9},
pages={1248},
year={2008},
publisher={National Institute of Environmental Health Sciences}
}

@Inbook{Stepanova2017Gathering,
author="Stepanova, Ekaterina R. and von der Heyde, Markus and Kitson, Alexandra and Schiphorst, Thecla and Riecke, Bernhard E.",
title="Gathering and Applying Guidelines for Mobile Robot Design for Urban Search and Rescue Application",
bookTitle="Human-Computer Interaction. Interaction Contexts: 19th International Conference, HCI International 2017, Vancouver, BC, Canada, July 9-14, 2017, Proceedings, Part II",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="562--581",
abstract="Robotics technology can assist Urban Search and Rescue (USAR) by allowing to explore environments inaccessible or unsafe for a human team [1]. This creates the need to develop a better understanding of the USAR procedures and specific requirements in order to guide the design of the robotics technology which will be accepted by USAR professionals. The current paper explores the specific requirements for the assistive technology, and extracts design guidelines for development of the robotic technology to be used during USAR operations. Design guidelines are derived from both literature review and from a qualitative study performed with Vancouver Heavy Urban Search and Rescue Task Force (HUSAR), focusing on usage scenarios and specific requirements for communication, control and user experience. The study revealed that the most crucial factors for the design of the robot are speed, robustness, reliability, weight, affordability, and adaptability to different environments and tasks, as well as ability to provide a two-way audio/video communication. For the interface, the most important characteristics are its learnability, immersiveness, and ability to afford a high sense of spatial presence. We further discuss how the above requirements were implemented though a case-study of the development of the ``TeleSpider'' (a hexapod tele-operated walking robot), and assess its effectiveness during the field testing at the Vancouver HUSAR warehouse. Failing to meet a number of the discussed requirements will likely result in the technology to be rejected by the USAR team, and never being used during actual deployments as has happened with a number of existing technologies.",
isbn="978-3-319-58077-7",
doi="10.1007/978-3-319-58077-7_45",
url="http://dx.doi.org/10.1007/978-3-319-58077-7_45"
}

@article {Stephen2003Ocean,
author={Stephen, R. A. and Spiess, F. N. and Collins, J. A. and Hildebrand, J. A. and Orcutt, J. A. and Peal, K. R. and Vernon, F. L. and Wooding, F. B.},
title={Ocean Seismic Network Pilot Experiment},
journal={Geochemistry, Geophysics, Geosystems},
volume={4},
number={10},
issn={1525-2027},
url={http://dx.doi.org/10.1029/2002GC000485},
doi={10.1029/2002GC000485},
pages={1--38},
keywords={Seismic instruments and networks, Body waves, Surface waves and free oscillations, Broadband seismology, ocean seismic network, ambient noise, earthquakes, marine seismology, Ocean Drilling Project Leg 136},
year={2003},
note={1092},
abstract={The primary goal of the Ocean Seismic Network Pilot Experiment (OSNPE) was to learn how to make high quality broadband seismic measurements on the ocean bottom in preparation for a permanent ocean seismic network. The experiment also had implications for the development of a capability for temporary (e.g., 1 year duration) seismic experiments on the ocean floor. Equipment for installing, operating and monitoring borehole observatories in the deep sea was also tested including a lead-in package, a logging probe, a wire line packer and a control vehicle. The control vehicle was used in three modes during the experiment: for observation of seafloor features and equipment, for equipment launch and recovery, and for power supply and telemetry between ocean bottom units and the ship. The OSNPE which was completed in June 1998 acquired almost four months of continuous data and it demonstrated clearly that a combination of shallow buried and borehole broadband sensors could provide comparable quality data to broadband seismic installations on islands and continents. Burial in soft mud appears to be adequate at frequencies below the microseism peak. Although the borehole sensor was subject to installation noise at low frequencies (0.6 to 50 mHz), analysis of the OSNPE data provides new insights into our understanding of ocean bottom ambient noise. The OSNPE results clearly demonstrate the importance of sediment borne shear modes in ocean bottom ambient noise behavior. Ambient noise drops significantly at high frequencies for a sensor placed just at the sediment basalt interface. At frequencies above the microseism peak, there are two reasons that ocean bottom stations have been generally regarded as noisier than island or land stations: ocean bottom stations are closer to the noise source (the surface gravity waves) and most ocean bottom stations to date have been installed on low rigidity sediments where they are subject to the effects of shear wave resonances. When sensors are placed in boreholes in basement the performance of ocean bottom seismic stations approaches that of continental and island stations. A broadband borehole seismic station should be included in any real-time ocean bottom observatory.},
}

@article{Stowers2016Intelligent,
author={Kimberly Stowers and Nicholas Kasdaglis and Olivia Newton and Shan Lakhmani and Ryan Wohleber and Jessie Chen},
title={Intelligent Agent Transparency},
journal={Proceedings of the Human Factors and Ergonomics Society Annual Meeting},
volume={60},
number={1},
pages={1706-1710},
year={2016},
doi={10.1177/1541931213601392},
URL={http://dx.doi.org/10.1177/1541931213601392},
eprint={http://dx.doi.org/10.1177/1541931213601392},
abstract={ We evaluated the usability and utility of an unmanned vehicle management interface that was developed based on the Situation awareness–based Agent Transparency model. We sought to examine the effect of increasing levels of agent transparency on operator task performance and perceived usability of the agent. Usability and utility were assessed through flash testing, a focus group, and experimental testing. While usability appeared to decrease with the portrayal of uncertainty, operator performance and reliance on key parts of the interface increased. Implications and next steps are discussed. }
}

@article{Su2012Fuzzy,
title ={Fuzzy Decision on Optimal Collision Avoidance Measures for Ships in Vessel Traffic Service},
author ={Chien-Min Su and Ki-Yin Chang and Chih-Yung Cheng},
keywords ={collision avoidance decision; collision danger domain; fuzzy monitoring system; rudder steering procedure},
journal ={Journal of Marine Science and Technology},
volume ={20},
number ={1},
year ={2012},
month ={Feb},
abstract ={This article proposes a new collision avoidance decision method for ships, allowing ships at risk of collision to take timely collision avoidance measures to ensure safe passage. Through vessel traffic service (VTS) collision alert system, an analysis can be made for the probability of a ship collision and an early warning can be issued. For ships in potential collision danger, the proposed method will use Microsoft Visual Studio to establish a knowledge base of international regulations for preventing collisions at sea. Thus, based on an analysis of the situation when encountering other ships, the knowledge base will suggest an appropriate avoidance technique and use a fuzzy monitoring system, propose a novel collision danger domain that forbids entering forgive-way ship. Considering the required advance for ship turning, the fuzzy monitoring system will suggest the optimal rudder steering procedure for the give-way ship, allow the ship to avoid collision and ensure navigation safety. The avoidance action taken by the ship does not consider reducing speed, instead focuses only on rudder steering. The system also integrates VTS/automatic identification system (AIS)/marine geographic information system (MGIS) by using MGIS as an AIS imaging system to facilitate the optimal decision for ship collision avoidance and determine the input linguistic variables for the fuzzy logic theory via an analytical hierarchy process. The proposed method can enhance the VTS operator's decision-making abilities for collision avoidance by providing a fuzzy monitoring system.},
pages ={38-48},
ISSN ={1023-2796},
publisher ={Springer Japan},
}

@ARTICLE{Subbaraya2016Circling, 
author={S. Subbaraya and A. Breitenmoser and A. Molchanov and J. Muller and C. Oberg and D. A. Caron and G. S. Sukhatme}, 
journal={IEEE Robotics Automation Magazine}, 
title={Circling the Seas: Design of Lagrangian Drifters for Ocean Monitoring}, 
year={2016}, 
volume={23}, 
number={4}, 
pages={42-53}, 
abstract={Lagrangian drifters are oceanographic devices used to study circulation patterns in the ocean. The devices are typically passive, which means that they have no actuators to initiate motion. They are mainly driven by the ocean currents. A drifter, as depicted in Figure 1, in principle, consists of a surface float and a drogue connected via a tether. The surface float provides the necessary buoyancy to hold the drogue at a certain depth, whereas the drogue (and, thus, the whole drifter) is carried by the currents prevailing at that depth of the ocean. A main focus of oceanographers' and marine biologists' research is the complex dynamics of the ocean, the circulation patterns of water, and the induced movements of effluents, larvae, and other microorganisms [1]. Drifters are used to tag and track the ocean currents and can help to better explain both oceanographic as well as biological phenomena. Our particular interest is the monitoring task of tracking wastewater plumes in the coastal ocean. In this article, we describe the design of low-power, low-cost Lagrangian drifters for ocean monitoring, developed at the Robotic Embedded Systems Laboratory (RESL) at the University of Southern California (USC). We discuss the design challenges and present the overall system characteristics of the RESL drifters. The drifters are augmented by radio communication, which simplifies the task of drifter recovery by a research vessel and enables setting up a bidirectional wireless sensor network between drifters, autonomous underwater vehicles (AUVs), vessels, and base stations.}, 
keywords={autonomous underwater vehicles;microorganisms;oceanographic equipment;wireless sensor networks;AUV;RESL drifters;Robotic Embedded System Laboratory;USC;University of Southern California;autonomous underwater vehicles;bidirectional wireless sensor network;biological phenomena;coastal ocean;complex ocean dynamics;drogue buoyancy;effluent movement;larvae movement;low-cost Lagrangian drifter;low-power Lagrangian drifter;microorganism movement;ocean circulation patterns;ocean currents;ocean depth;ocean monitoring;oceanographic devices;radio communication;surface float;wastewater plumes;water circulation patterns;Buoyancy;Lagrangian drifters;Mobile robots;Monitoring;Satellite broadcasting;Sea surface;Tracking;Wastewater}, 
doi={10.1109/MRA.2016.2535154}, 
ISSN={1070-9932}, 
month={Dec},}

@article{Sukhovich2015Seismic,
author={Sukhovich, Alexey and Bonnieux, S\'{e}bastien and Hello, Yann and Irisson, Jean-Olivier and Simons, Frederik J. and Nolet, Guust},
title={Seismic monitoring in the oceans by autonomous floats},
journal={Nature Communications},
year={2015},
month={Aug},
volume={6},
number={8027},
pages={1-6},
url={http://dx.doi.org/10.1038/ncomms9027},
doi={10.1038/ncomms9027},
abstract={Our understanding of the internal dynamics of the Earth is largely based on images of seismic velocity variations in the mantle obtained with global tomography. However, our ability to image the mantle is severely hampered by a lack of seismic data collected in marine areas. Here we report observations made under different noise conditions (in the Mediterranean Sea, the Indian and Pacific Oceans) by a submarine floating seismograph, and show that such floats are able to fill the oceanic data gap. Depending on the ambient noise level, the floats can record between 35 and 63% of distant earthquakes with a moment magnitude MZ6.5. Even magnitudes o6.0 can be successfully observed under favourable noise conditions. The serendipitous recording of an earthquake swarm near the Indian Ocean triple junction enabled us to establish a threshold magnitude between 2.7 and 3.4 for local earthquakes in the noisiest of the three environments.},
}

@INPROCEEDINGS{Sumimoto1994Machine,
author={T. Sumimoto and K. Kuramoto and S. Okada and H. Miyauchi and M. Imade and H. Yamamoto and T. Kunishi},
booktitle={Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics},
title={Machine vision for detection of the rescue target in the marine casualty},
year={1994},
volume={2},
number={},
pages={723-726 vol.2},
abstract={In marine rescue, the detection of the target such as life rafts depends on the visual search by man as yet. However, human eyes are sometimes inadequate owing to a long flight and wide views. In order to carry out the prompt rescue of human life, development of the searching system in place of the human eyes is surely required. This paper deals with a new search method for detection of the rescue target using image processing techniques. To detect the small target in the wide views over the sea, we have proposed a new method including the image processing techniques based on the color information and the composite image sensor which increases about the measurement accuracy and the image processing speed at actual field. At the first step of the study, we attempt to extract the image data of the rescue target with the orange color in an experimental sea.<<ETX>>},
keywords={emergency services;accidents;computer vision;image sensors;machine vision;rescue target detection;marine casualty;marine rescue;image processing;color information;composite image sensor;measurement accuracy;image processing speed;image data extraction;Machine vision;Humans;Image processing;Eyes;Search methods;Color;Image sensors;Sea measurements;Velocity measurement;Data mining},
doi={10.1109/IECON.1994.397874},
ISSN={},
month={Sept},}

@techreport{Sutton2007Design,
  title={Design of the multi-role Springer unmanned surface vehicle},
  author={Sutton, Robert},
  year={2007},
  institution={DTIC Document}
}

@INPROCEEDINGS{Suzuki2015Experiment, 
author={N. Suzuki and H. Kitajima and H. Kaba and T. Suzuki and T. Suto and A. Kobayashi and F. Ochi}, 
booktitle={OCEANS 2015 - Genova}, 
title={An experiment of real-time data transmission of sonar images from cruising UUV to distant support vessel via USV: Development of underwater real-time communication system (URCS) by parallel cruising}, 
year={2015}, 
pages={1-6}, 
abstract={Seafloor investigations with unmanned underwater vehicles (UUVs) have been carried out in various situations. It is expected in future that seafloor investigations of sea area where manned support vessels cannot enter will be accomplished with UUVs. For searches after an accident and a disaster, detected objects should be immediately identified. In such situation, it is convenient to have a system, that transfers UUV status data and/or observation data from an UUV to a distant base in real time. Therefore, we have developed the Underwater Real-time Communication System (URCS) where unmanned surface vehicle (USV) relays UUV status and Sonar images to a distant base in real-time. The USV communicates with the UUV by two sets of acoustic device and with the distant support vessel by satellite communication. For the USV to receive image data from UUV it is necessary to keep USV just above the UUV, because high-speed acoustic device used for image data transmission has strong directivity in general. Therefore, we have developed Parallel Cruising Technology by using Cooperative Control (PaCTeCC) method. A sea trial of real-time data transmission of sonar images from the cruising UUV to the distant support vessel via the USV was conducted in July 2014. In this paper, we report the details of PaCTeCC method and the experiment results.}, 
keywords={autonomous underwater vehicles;oceanographic techniques;seafloor phenomena;sonar imaging;underwater acoustic communication;USV;UUV;real-time data transmission;satellite communication;seafloor investigations;sonar images;support vessel;underwater real-time communication system;unmanned surface vehicle;unmanned underwater vehicles;Accuracy;Acoustic communication (telecommunication);Acoustic devices;Data communication;Real-time systems;Satellite communication;Sonar;Real-time Communication;Sonar Image;USV;UUV}, 
doi={10.1109/OCEANS-Genova.2015.7271465}, 
month={May},}

@inproceedings{Svec2012USV,
title={USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles},
author={Petr Svec, Atul Thakur, Brual C. Shah and Satyandra K. Gupta},
pages={1297-1306}, 
doi={10.1115/DETC2012-71239},
address={Chicago, Illinois, USA},
month={August},
year={2012},
booktitle={ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B},
isbn={978-0-7918-4503-5},
publisher={ASME},
abstract={Safe and efficient following of a time varying motion goal by an autonomous unmanned surface vehicle (USV) in a sea environment with obstacles is a challenge. The vehicle’s tracking capability is inherently influenced by its dynamics, the motion characteristics of the motion goal, as well as by the configuration of obstacles in the marine environment. We have developed an approach that utilizes a lattice-based trajectory planning to generate a dynamically feasible, resolution optimal, collision-free trajectory to allow the vehicle to reliably reach the motion goal. We utilized a trajectory following controller to achieve high tracking efficiency while still preserving motion safety. The entire approach is based on the developed USV system architecture that encapsulates the necessary trajectory planning components. We demonstrated the effectiveness of the developed planner in a simulated environment with static obstacles. In addition, we have developed a physical evaluation setup.},
}

@Article{Svec2014Target,
author="{\v{S}}vec, Petr and Thakur, Atul and Raboin, Eric and Shah, Brual C. and Gupta, Satyandra K.",
title="Target following with motion prediction for unmanned surface vehicle operating in cluttered environments",
journal="Autonomous Robots",
year="2014",
volume="36",
number="4",
pages="383--405",
abstract="The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios involve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended motion of the target boat. This paper presents a trajectory planning and tracking approach for following a differentially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicinity of the target boat, jointly defined as a motion goal, and tightly integrates it with trajectory planning and tracking components of the entire system. The trajectory planner generates a dynamically feasible, collision-free trajectory to allow the USV to safely reach the computed motion goal. Trajectory planning needs to be sufficiently fast and yet produce dynamically feasible and short trajectories due to the moving target. This required speeding up the planning by searching for trajectories through a hybrid, pose-position state space using a multi-resolution control action set. The search in the velocity space is decoupled from the search for a trajectory in the pose space. Therefore, the underlying trajectory tracking controller computes desired surge speed for each segment of the trajectory and ensures that the USV maintains it. We have carried out simulation as well as experimental studies to demonstrate the effectiveness of the developed approach.",
issn="1573-7527",
doi="10.1007/s10514-013-9370-z",
url="http://dx.doi.org/10.1007/s10514-013-9370-z"
}

@ARTICLE{Tadokoro2011Performance, 
author={S. Tadokoro and A. Jacoff}, 
journal={IEEE Robotics Automation Magazine}, 
title={Performance Metrics for Response Robots [Industrial Activities]}, 
year={2011}, 
volume={18}, 
number={3}, 
pages={12-14}, 
abstract={}, 
doi={10.1109/MRA.2011.942482}, 
ISSN={1070-9932}, 
month={Sept},}

@Inbook{Takahashi2017Buoy,
author="Takahashi, Narumi and Ishihara, Yasuhisa and Fukuda, Tatsuya and Ochi, Hiroshi and Tahara, Jun'ichiro and Mori, Takami and Deguchi, Mitsuyasu and Kido, Motoyuki and Ohta, Yusaku and Hino, Ryota and Mutoh, Katsuhiko and Hashimoto, Gosei and Motohashi, Osamu and Kaneda, Yoshiyuki",
title="Buoy Platform Development for Observation of Tsunami and Crustal Deformation",
bookTitle="International Symposium on Geodesy for Earthquake and Natural Hazards (GENAH): Proceedings of the International Symposium on Geodesy for Earthquake and Natural Hazards (GENAH), Matsushima, Japan, 22-26 July, 2014",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="97--103",
isbn="978-3-319-39768-9",
doi="10.1007/1345_2015_114",
}

@article{Takahashi2014New,
doi = {10.1007/s11001-014-9235-7},
file = {:home/darlan/Dropbox/Survey Barcos - Produto Final/Takahashi2014New.pdf:pdf},
isbn = {00253235},
issn = {15730581},
journal = {Marine Geophysical Research},
keywords = {Buoy,Crustal deformation,Nankai Trough,Slack mooring,Tsunami},
mendeley-groups = {Natural Disaster},
number = {3},
pages = {243--253},
title = {{New buoy observation system for tsunami and crustal deformation}},
author = "Takahashi, Narumi and Ishihara, Yasuhisa and Ochi, Hiroshi and Fukuda, Tatsuya and Tahara, Jun'ichiro and Maeda, Yosaku and Kido, Motoyuki and Ohta, Yusaku and Mutoh, Katsuhiko and Hashimoto, Gosei and Kogure, Satoshi and Kaneda, Yoshiyuki",
volume = {35},
year = {2014}
}


@article{Talling2014Triggers,
title="On the triggers, resulting flow types and frequencies of subaqueous sediment density flows in different settings",
journal="Marine Geology",
volume="352",
pages="155 - 182",
year="2014",
note="50th Anniversary Special Issue",
issn="0025-3227",
doi="https://doi.org/10.1016/j.margeo.2014.02.006",
url="http://www.sciencedirect.com/science/article/pii/S0025322714000395",
author="Peter J. Talling",
keywords="submarine flow, turbidity current, turbidite, submarine fan, trigger, frequency, timing, sea level, earthquake, hyperpycnal flow",
abstract="Turbidity currents, and other types of underwater sediment density flow, are arguably the most important flow process for moving sediment across our planet. Direct monitoring provides the most reliable information on the varied ways in which these flows are triggered, and thus forms the basis for this contribution. Recent advances in flow monitoring make this contribution timely, although monitoring is biased towards more frequent flow types. Submarine deltas fed by bedload dominated rivers can be very active with tens of events each year. Larger events are generated by delta-lip failures, whilst smaller events can be associated with motion of up-slope migrating bedforms. River-fed submarine canyons are flushed every few years by powerful long run-out flows. Flows in river-fed delta and canyon systems tend to occur during months of elevated river discharge. However, many flows do not coincide with flood peaks, or occur where rivers do not reach hyperpycnal concentrations, and are most likely triggered by failure of rapidly deposited sediment. Plunging of hyperpycnal river floodwater commonly triggers dilute and slow moving flows in lakes and reservoirs, and has been shown to produce mm-thick fine-grained deposits. It is proposed here that such thin and fine deposits are typical of flows triggered by hyperpycnal river floods, rather than thicker sand layers with traction structure or displaying inverse-to-normal grading. Oceanographic canyons are detached from river mouths and fed by oceanographic processes (wave and tide resuspension, longshore drift, etc.). Most events in these canyons are associated with large wave heights. Up-slope migrating crescentic bedforms are seen, similar to those observed in river-fed deltas. Oceanographic processes tend to infill canyons, which are flushed episodically by much more powerful flows, inferred to result from slope failure. This filling and flushing model is less applicable to river-fed canyons in which flushing events are much more frequent. Oceanographic canyons may result from rapid sea level rise that detaches river mouths from canyon heads, and they can remain active during sea level highstands. Deep-water basin plains are often dominated by infrequent but very large flows triggered by failure of the continental slope. Recurrence intervals of these flows appear almost random, and only weakly (if at all) correlated with sea level change. Turbidites can potentially provide a valuable long-term record of major earthquakes, but widespread slope failure is the only reliable criteria for inferring seismic triggering. However, not all major earthquakes trigger widespread slope failure, so that the record is incomplete in some locations."
}

@Article{Tam2010Collision,
author="Tam, CheeKuang
and Bucknall, Richard",
title="Collision risk assessment for ships",
journal="Journal of Marine Science and Technology",
year="2010",
volume="15",
number="3",
pages="257--270",
abstract="Efficient maritime navigation through dynamic obstructions at close range is still a serious issue faced by mariners. There have been studies focusing on collision risk assessment in the past, but the majority were based on the first person perspective, with area-based ship domain concepts that are defined around either the ownship or the obstacle. Such methods are acceptable for encounters where the ownship is required to manoeuvre according to the collision regulations (COLREGs), but they will not work correctly if the ownship is the stay-on party. This article presents an alternative method of assessing the collision risk for surface ships in close-range encounters that is compliant with the COLREGs as well as other ships from different perspectives.",
issn="1437-8213",
doi="10.1007/s00773-010-0089-7",
url="http://dx.doi.org/10.1007/s00773-010-0089-7"
}

@INPROCEEDINGS{Tao2012UAV,
author={T. Tao and R. Jia},
booktitle={Proceedings of 2012 2nd International Conference on Computer Science and Network Technology},
title={UAV decision-making for maritime rescue based on Bayesian Network},
year={2012},
volume={},
number={},
pages={2068-2071},
abstract={This paper presents a mission decision-making model based on Bayesian Network for rescue problems in the complex marine environment. In this model, child nodes are various uncertain factors at sea, factors of rescue points and factors of USV (Unmanned Surface Vessel). Then we take these child nodes as observation nodes, thus we can calculate the probabilities of every rescue points and UAV (Unmanned Aerial Vehicle) mission decision-making can be achieved. From simulation, it proved the validity of this model.},
keywords={autonomous aerial vehicles;belief networks;control engineering computing;decision making;emergency management;marine safety;probability;UAV decision-making;maritime rescue;Bayesian network;rescue problems;complex marine environment;child nodes;rescue points;USV;unmanned surface vessel;observation nodes;probabilities;unmanned aerial vehicle mission decision-making model;Unmanned Aerial Vehicle;Unmanned Surface Vessel;Mission Decision-making Model;Bayesian Network;Maritime Rescue},
doi={10.1109/ICCSNT.2012.6526326},
ISSN={},
month={Dec},}

@article{Taubenbock2008Conceptual,
title={A conceptual vulnerability and risk framework as outline to identify capabilities of remote sensing},
author={Taubenb{\"o}ck, Hannes and Post, Joachim and Roth, Achim and Zosseder, Kai and Strunz, G{\"u}nter and Dech, Stefan},
journal={Natural Hazards and Earth System Sciences},
volume={8},
number={3},
pages={409--420},
year={2008},
publisher={Copernicus GmbH},
}


@article{Thompson2018Review,
author = {Thompson, Fletcher and Guihen, Damien},
title = {Review of mission planning for autonomous marine vehicle fleets},
journal = {Journal of Field Robotics},
volume = {0},
number = {0},
pages = {},
doi = {10.1002/rob.21819},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21819},
eprint = {https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21819},
abstract = {Abstract The deployment of a fleet of autonomous marine vehicles (AMVs) allows for the parallelisation of missions, intervehicle support for longer deployment times, adaptability and redundancy to in situ mission changes, and effective use of the right vehicle for the right purpose. End users and operators of AMVs face challenges in planning complex missions due to the limitations of their vehicles, dynamic, operationally constrictive, and unstructured environments, and in minimising risks to equipment, the mission, and personnel. Automated mission planning for AMV fleets can be a tool to reduce the complexity of programming vehicle tasking, and to perform validity assessments for end user-specified goals, allowing the operator to focus on risk assessment. We present a critical review of the current advances in automated planning for AMV fleets, investigating the limitations of available state-of-the-art tools and providing a road map of the goals and challenges based on analysis of field reports and end user initiatives.},
}

@INPROCEEDINGS{Tian2014Dynamics, 
author={B. Tian and J. Yu and A. Zhang and F. Zhang and Z. Chen and K. Sun}, 
booktitle={OCEANS 2014 - TAIPEI}, 
title={Dynamics analysis of wave-driven unmanned surface vehicle in longitudinal profile}, 
year={2014}, 
pages={1-6}, 
abstract={Wave-driven unmanned surface vehicle (WUSV) is a great success of application of solar and wave energy in the ocean robot. In this paper, the nonlinear dynamic model of WUSV in two dimension is established based on the analysis of its driving principle in the longitudinal profile. Then, we calculate the wave and driving force, and determine hydrodynamic coefficients according to the empirical data and experimental platform of WUSV. Finally, we simplify the nonlinear equations and present the simulation results of the model.}, 
keywords={hydrodynamics;marine vehicles;nonlinear equations;remotely operated vehicles;robot dynamics;WUSV;driving force;dynamics analysis;hydrodynamic coefficients;longitudinal profile;nonlinear dynamic model;nonlinear equations;ocean robot;solar energy;wave energy;wave-driven unmanned surface vehicle;Drag;Gravity;Hydrodynamics;Oceans;Underwater cables;Vehicle dynamics}, 
doi={10.1109/OCEANS-TAIPEI.2014.6964333}, 
month={April},}

@INPROCEEDINGS{Tian2016Deformation, 
author={B. Tian and W. Zhou}, 
booktitle={2016 IEEE International Conference on Information and Automation (ICIA)}, 
title={Deformation analysis and design of rubber webbed wings in multifunctional hybrid glider}, 
year={2016}, 
pages={550-554}, 
abstract={Multifunctional hybrid glider(MHG) is a new type of platform for ocean observation, integrating the concept of underwater glider and wave glider. With the rubber webbed wings introduced and the structure redesigned, this vehicle can glide on the ocean surface and in the vertical profile. Based on the realization mechanism of MHG, the deformation model of flexible rubber webbed wing is established, and its deformation simulation results is achieved by setting some parameters, which will provide the reference for the design and selection of rubber webbed wing. MHG will be more suitable for large scale, multitasking and long-term three-dimensional ocean observation in the comprehensive and complex ocean environment.}, 
keywords={deformation;rubber;underwater vehicles;MHG realization mechanism;complex ocean environment;comprehensive ocean environment;deformation analysis;deformation model;flexible rubber webbed wing design;long-term three-dimensional ocean observation;multifunctional hybrid glider;ocean observation;underwater glider concept;wave glider;Force;Hydrodynamics;Rubber;Sea surface;Surface waves;Vehicles;deformation analysis;multifunctional hybrid glider;rubber webbed wings}, 
doi={10.1109/ICInfA.2016.7831883}, 
month={Aug},}

@ARTICLE{Tinka2013Floating, 
author={A. Tinka and M. Rafiee and A. M. Bayen}, 
journal={IEEE Systems Journal}, 
title={Floating Sensor Networks for River Studies}, 
year={2013}, 
volume={7}, 
number={1}, 
pages={36-49}, 
abstract={Free-floating sensor packages that take local measurements and track flows in water systems, known as drifters, are a standard tool in oceanography, but are new to estuarial and riverine studies. A system based on drifters for making estimates on a hydrodynamic system requires the drifters themselves, a communication network, and a method for integrating the gathered data into an estimate of the state of the hydrodynamics. This paper presents a complete drifter system and documents a pilot experiment in a controlled channel. The utility of the system for making measurements in unknown environments is highlighted by a combined parameter estimation and data assimilation algorithm using an extended Kalman filter. The performance of the system is illustrated with field data collected at the Hydraulic Engineering Research Unit, Stillwater, OK.}, 
keywords={Kalman filters;data assimilation;flow measurement;flow sensors;hydrodynamics;hydrological techniques;parameter estimation;rivers;sensors;combined parameter estimation;communication network;data assimilation algorithm;drifter system;estuarial studies;extended Kalman hlter;floating sensor networks;free-floating sensor packages;hydrodynamic system;local measurements;oceanography;pilot experiment;riverine studies;water systems;Data assimilation;Fluid flow measurement;Hydrodynamics;Kalman filters;Parameter estimation;Sensor systems and applications;Data assimilation;Kalman filters;hydrodynamics;sensor systems and applications}, 
doi={10.1109/JSYST.2012.2204914}, 
ISSN={1932-8184}, 
month={March},}

@article {Tomita2015First,
author={Tomita, Fumiaki and Kido, Motoyuki and Osada, Yukihito and Hino, Ryota and Ohta, Yusaku and Iinuma, Takeshi},
title={First measurement of the displacement rate of the Pacific Plate near the Japan Trench after the 2011 Tohoku-Oki earthquake using GPS/acoustic technique},
journal={Geophysical Research Letters},
volume={42},
number={20},
issn={1944-8007},
url={http://dx.doi.org/10.1002/2015GL065746},
doi={10.1002/2015GL065746},
pages={8391--8397},
keywords={Seismic cycle related deformations, Transient deformation, Geodesy, seafloor geodesy, the 2011 Tohoku-Oki earthquake, postseismic deformation, oceanic plate, subduction rate},
year={2015},
note={2015GL065746},
abstract={The subduction rate of an oceanic plate may accelerate after large earthquakes rupture the interplate coupling between the oceanic and overriding continental plates. To better understand postseismic deformation processes in an incoming oceanic plate, we directly measured the displacement rate of the Pacific Plate near the Japan Trench after the 2011 Tohoku-Oki earthquake using a GPS/acoustic technique over a period of 2 years (September 2012 to September 2014). The displacement rate was measured to be 18.0 ± 4.5 cm yr−1 (N302.0°E) relative to the North American Plate, which is almost twice as fast as the predicted interseismic plate motion. Because the sum of steady plate motion and viscoelastic response to the Tohoku-Oki earthquake roughly accounts for the observed displacement rate, we conclude that viscoelastic relaxation is the primary mechanism responsible for postseismic deformation of the Pacific Plate and that significant subduction acceleration did not occur at least not during the observation period.},
}

@article{Torres2016Survey, 
title={Survey and comparative study of free simulation software for mobile robots}, 
volume={34}, 
DOI={10.1017/S0263574714001866}, 
number={4}, journal={Robotica}, 
publisher={Cambridge University Press}, 
author={Torres-Torriti, M. and Arredondo, T. and Castillo-Pizarro, P.}, 
year={2016}, 
pages={791–822}}

@INPROCEEDINGS{Tosik2016MARS, 
author={T. Tosik and J. Schwinghammer and M. J. Feldvoß and J. P. Jonte and A. Brech and E. Maehle}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={MARS: A simulation environment for marine swarm robotics and environmental monitoring}, 
year={2016}, 
pages={1-6}, 
abstract={In this paper, we present a simulation environment for marine robotics with support for swarm robotics and environmental monitoring. A vegetation system and fish swarms in the environment model present indirect bio-feedback. This enables the evaluation of swarm behaviors, e.g. to efficiently cover a vegetation area or monitor and chase fish swarms. The temperature sensor in the sensor model has a thermocline-based function for realistic data and a filter for the camera visually simulates suspended particles. The thruster model allows the use of a steady-state model function to calculate the thrust. For swarms, the underwater communication model is based on multipath propagation and background noise. The energy system supports solar panels that produce energy depending on the sun's position. Finally, a comparison between the depth control of real and simulated autonomous underwater vehicles was carried out.}, 
keywords={autonomous underwater vehicles;control system analysis computing;digital simulation;environmental monitoring (geophysics);feedback;image filtering;mobile robots;multi-robot systems;spatial variables control;telerobotics;temperature sensors;AUV;HiL simulation environment;MARS;Marine Robotics Simulator;autonomous underwater vehicles;background noise;camera filter;depth control;environmental monitoring;fish swarms;hardware-in-the-loop simulation;indirect bio-feedback;marine swarm robotics;multipath propagation;solar panels;steady-state model function;temperature sensor;thermocline-based function;thruster model;underwater communication model;vegetation system;Biological system modeling;Cameras;Mars;Robot sensing systems;Temperature sensors;Underwater communication;Vegetation mapping}, 
doi={10.1109/OCEANSAP.2016.7485333}, 
month={April},}

@INPROCEEDINGS{Tranzatto2015Debut, 
author={M. Tranzatto and A. Liniger and S. Grammatico and A. Landi}, 
booktitle={OCEANS 2015 - Genova}, 
title={The debut of Aeolus, the autonomous model sailboat of ETH Zurich}, 
year={2015}, 
pages={1-6}, 
abstract={Autonomous sailboats are good candidates for long term oceanic surveys, since they use wind power as their main mean of propulsion. Controlling a sailboat, however, is typically not an easy task due to the high variability in the wind and the side drift of the boat. In this paper, we describe how we design and set up the control architecture that allows Aeolus, the autonomous model sailboat of ETH Zurich, to sail upwind and execute fast and smooth tack maneuvers. Different controllers to actuate the rudder have been implemented and validated for both the upwind sailing and the tack maneuver. We present experimental results obtained during several autonomous sailing tests at the lake Zurich.}, 
keywords={boats;marine control;mobile robots;telerobotics;Aeolus;ETH Zurich;autonomous model sailboat;autonomous sailing;rudder;tack maneuver;upwind sailing;Boats;Global Positioning System;Lakes;Regulators;Wind;autonomous marine vehicle;autonomous model sailboat;embedded control;tack maneuver;upwind sailing}, 
doi={10.1109/OCEANS-Genova.2015.7271708}, 
month={May},}

@Inbook{Valada2014Development,
author="Valada, A.
and Velagapudi, P.
and Kannan, B.
and Tomaszewski, C.
and Kantor, G.
and Scerri, P.",
editor="Yoshida, Kazuya
and Tadokoro, Satoshi",
title="Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform",
bookTitle="Field and Service Robotics: Results of the 8th International Conference",
year="2014",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="643--658",
isbn="978-3-642-40686-7",
doi="10.1007/978-3-642-40686-7_43",
url="http://dx.doi.org/10.1007/978-3-642-40686-7_43",
abstract="In this paper, we outline a low cost multi-robot autonomous platform for a broad set of applications including water quality monitoring, flood disaster mitigation and depth buoy verification. By working cooperatively, fleets of vessels can cover large areas that would otherwise be impractical, time consuming and prohibitively expensive to traverse by a single vessel. We describe the hardware design, control infrastructure, and software architecture of the system, while additionally presenting experimental results from several field trials. Further, we discuss our initial efforts towards developing our system for water quality monitoring, in which a team of watercraft equipped with specialized sensors autonomously samples the physical quantity being measured and provides online situational awareness to the operator regarding water quality in the observed area. From canals in New York to volcanic lakes in the Philippines, our vessels have been tested in diverse marine environments and the results obtained from initial experiments in these domains are also discussed.",
url="http://repository.cmu.edu/cgi/viewcontent.cgi?article=1899\&context=robotics"
}


@article{Valero2011Impact,
author={Alberto Valero-Gomez and Paloma de la Puente and Miguel Hernando},
title={Impact of Two Adjustable-Autonomy Models on the Scalability of Single-Human/Multiple-Robot Teams for Exploration Missions},
journal={Human Factors},
volume={53},
number={6},
pages={703-716},
year={2011},
doi={10.1177/0018720811420427},
note ={PMID: 22235531},
URL={http://dx.doi.org/10.1177/0018720811420427},
eprint={ http://dx.doi.org/10.1177/0018720811420427},
abstract={ Objective: The aim of this study was to evaluate two models for adjusting autonomy in mobile robots to find out the best way for the operator to interact with the system with as many robots as possible. The first model is the most used in mobile robots; the second proposes a flexible autonomy management.Background: There are different ways of adjusting the autonomy level in man-machine systems: adjustable autonomy, in which the operator has the initiative over the autonomy level; adaptive autonomy, in which the autonomy level is adjusted depending on the task and context; and mixed initiatives. One of the drawbacks of using adjustable autonomy is that it is claimed not to be flexible enough, resulting in a high operator workload. We propose and evaluate a flexible adjustable autonomy model for robot-team supervision.Method: Two experiments were designed to test the scalability and performance of the man-machine system with two alternative configurations for the autonomy management. The independent variable is the number of robots, and the measured variable is the man-machine system performance. The experiments are between subjects. We have used ANOVA and Bonferroni post hoc analysis for analyzing the results.Results: On the basis of these analyses, we conclude that a flexible adjustable autonomy model results in better performance than the classic, rigid one, in which the operator directly chooses the autonomy level.Conclusion: Flexible autonomy adjustment permits one operator to control a team of robots with better results in terms of performance and robot use, as he or she can directly act at the error level, leaving the responsibility of readjusting and resuming the task to the system and hence reducing the operator’s workload.Application: The results can be applied to exploration robotics, mainly, in which one operator controls a team of robots. In general, these principles can be extended to other single-man/multiple-machine systems. }
}

@InProceedings{Vasilyev2018Development,
author="Vasilyev, I. A. and Dorofeev, R. A. and Korushova, J. V. and Koshurina, A. A. and Krasheninnikov, M. S.", 
editor="Anisimov, K. V. and Dub, A. V. and Kolpakov, S. K. and Lisitsa, A. V. and Petrov, A. N. and Polukarov, V. P. and Popel, O. S. and Vinokurov, V. A.",
title="The Development of the New Type Universal Collective Survival Craft with Unmanned Control Function for Evacuation of Personnel in Emergency Situations of Natural and Technogenic Character on the Arctic Shelf",
booktitle="Proceedings of the Scientific-Practical Conference ``Research and Development - 2016''",
year="2018",
publisher="Springer International Publishing",
address="Cham",
pages="199--207",
abstract="The article presents the concept and the process of development of the new type universal collective survival craft. The article shows the arrangement and the interior of the vehicle and describes solutions for the main systems---chassis, life support systems, control systems, and auto piloting, showing decisions in the passenger compartment. In addition, authors describe the development process included in strength calculations of technical solutions. In conclusion, the article gives a conclusion on possible areas of use of the developed solutions.",
isbn="978-3-319-62870-7",
}

@inbook{Varas2016Autonomous,
title="Autonomous COLREGs Compliant Ship Navigation, Using Bridge Simulators and an Unmanned Vessel",
abstract="This paper presents an approach to COLREGs compliant ship navigation. A system architecture is proposed, which will be implemented and tested on two platforms: networked bridge simulators and at sea trials using an autonomous unmanned surface vessel. Attention is paid to collision avoidance software and its risk mitigation.",
author="Varas, {Jesus Mediavilla} and Walter Caharija and Renny Smith and Zakirul Bhuiyan and Wasif Naeem and Paul Carter and Ian Renton",
year="2016",
month="5",
isbn="978-3-89220-690-3",
pages="280--287",
booktitle="Conference Proceedings for 15th International Conference on Computer Applications and Information Technology in the Maritime Industries",
publisher="Technische Universität Hamburg-Harburg",
}

@article{Varela2015Interactive,
title="Interactive 3D desktop ship simulator for testing and training offloading manoeuvres",
journal="Applied Ocean Research",
volume="51",
number="",
pages="367 - 380",
year="2015",
note="",
issn="0141-1187",
doi="http://dx.doi.org/10.1016/j.apor.2015.01.013",
url="http://www.sciencedirect.com/science/article/pii/S0141118715000140",
author="J.M. Varela and C. Guedes Soares",
keywords="Manoeuvrability simulator",
keywords="Real-time simulation",
keywords="Sea surface rendering",
keywords="Virtual environments",
abstract="The paper presents a software system for interactive 3D simulations of offloading operations commonly executed in offshore scenarios. The system was developed to simulate an LNG vessel approaching or departing from a FPSO unit or LNG tanker in 3D Virtual Environment. However, it has the capabilities of a global purpose manoeuvring simulator, including state of the art models of manoeuvrability, sea-keeping and sea surface simulations, which are integrated into the system. Additionally to common real-time physically based manoeuvrability simulators, this simulator also includes real-time ship motions calculations. The system architecture is composed of three main modules that support interaction and real-time data exchange with the integrated mathematical models. The manoeuvrability module allows the user to control the steering gear, the main engine and the bow thrusters, through the Virtual Environment. The seakeeping module computes wave induced ship motions in real-time according to ship's position, heading and speed, based on pre-calculated response amplitude operators. The sea surface module generates and simulates sea states defined by wave spectra. The system takes advantage of the programmable capabilities of the graphics processor units to increase the performance and realism of the simulations. The simulator may be used by operation planners and ship masters, as a tool for testing and training different offloading scenarios and approaching manoeuvres."
}

@ARTICLE{Vasilijevic2017Coordinated, 
author={A. Vasilijevic and D. Nad and F. Mandic and N. Miskovic and Z. Vukic}, 
journal={IEEE/ASME Transactions on Mechatronics}, 
title={Coordinated Navigation of Surface and Underwater Marine Robotic Vehicles for Ocean Sampling and Environmental Monitoring}, 
year={2017}, 
volume={PP}, 
number={99}, 
pages={1-1}, 
abstract={Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide. There is an urging need for a tool which would help environmental response teams to perform rapid understanding of the location and the extent of the spill, to effectively establish an appropriate response. This paper presents a cooperative robotic system for environmental monitoring consisting of an Autonomous Underwater Vehicle (AUV) and an Autonomous Unmanned Surface Vehicle (USV). The main contributions of the paper are: systematic description of the design and implementation of the proposed cooperative robotic system, novel human-on-the-loop (HOTL) approach applied on the system for environmental monitoring and demonstration of the results of the open-sea experiments on pollution deliberately caused by harmless Rhodamine WT, carried out in Cartagena, Spain in June 2015. The proposed HOTL system provides near real-time pollution measurement data, while not consuming a significant amount of human time and effort. It supports decision-making and allows the operator to initiate the most adequate mission in a current situation, i.e., ensures mission change on-the-fly. While the AUV samples the ocean, the USV maintains the localization and communication data transfer to the control centre and corrects the AUV’s dead reckoning error.}, 
keywords={Environmental monitoring;Mechatronics;Pollution measurement;Real-time systems;Robots;Sea surface;Surface contamination;Autonomous Underwater Vehicle;Environmental monitoring;Human-on-the-loop;Unmanned Surface Vehicle}, 
doi={10.1109/TMECH.2017.2684423}, 
ISSN={1083-4435}, 
month={},}

@misc{Vergne2008Observation,
  title={Observation and images transmission system for unmanned ship, and associated unmanned ship},
  author={Vergne, J.P. and Jaume, D.G.},
  url={https://www.google.com/patents/EP1914992A1?cl=en},
  year={2008},
  month="Apr",
  publisher={Google Patents},
  note={EP Patent App. EP20,070,118,370}
}

@INPROCEEDINGS{Villa2016Design, 
author={J. L. Villa and J. Paez and C. Quintero and E. Yime and J. Cabrera}, 
booktitle={2016 IEEE Colombian Conference on Robotics and Automation (CCRA)}, 
title={Design and control of an unmanned surface vehicle for environmental monitoring applications}, 
year={2016}, 
pages={1-5}, 
abstract={Unmanned Surface Vehicles (USV) have been used in a wide range of applications, in particular in environmental monitoring. In this work we propose the design and control of an USV which is intended to be used for monitoring environmental variables of the main inlet waters located in Cartagena de Indias, Colombia, such as Chambacu, Cabrero and San Lazaro. The paper shows the results obtained in the naval design, focused on the hull design, and the control strategy for unmanned navigability which is tested in simulation.}, 
keywords={control system synthesis;environmental monitoring (geophysics);marine control;marine navigation;mobile robots;remotely operated vehicles;Cabrero;Cartagena de Indias;Chambacu;Colombia;San Lazaro;USV control;USV design;environmental monitoring;hull design;inlet waters;naval design;unmanned navigability;unmanned surface vehicle;Boats;Control systems;Mathematical model;Navigation;Ocean temperature;Vehicles}, 
doi={10.1109/CCRA.2016.7811411}, 
month={Sept},}

@INPROCEEDINGS{Viswanathan2016Buoyancy, 
author={V. Viswanathan and T. Taher}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={Buoyancy driven autonomous profiling float for shallow waters}, 
year={2016}, 
pages={1-6}, 
abstract={This paper presents a new underwater vertical profiling float with anchoring mechanism to embed in the seabed during adverse tidal conditions and navigate in coastal currents with minimal energy consumption to achieve extended periods of deployment. The profiling float has been built with industrial PVC pipes to maintain low cost of production and has been rated to operate at depths of 100m and has been tested in the northern coast of Singapore. Vertical profiles of temperature and depth are obtained from pre-programmed missions. Two configurations were developed; one with multiple chambers with weight changing capability and second with stacked profile and oil bladders where buoyancy control is achieved through volume change. This vehicle serves as a workhorse for measuring salinity, temperature, conductivity, and other parameters aiming at reliable, robust and long term environmental sensing in the coastal regions of Singapore.}, 
keywords={anchors;buoyancy;energy consumption;pipe flow;pipes;salinity (geophysical);shallow water equations;temperature measurement;anchoring mechanism;buoyancy control;buoyancy driven autonomous profiling float;conductivity measurement;environmental sensing;industrial PVC pipe;minimal energy consumption;multiple chamber;northern coast of Singapore;oil bladder;salinity measurement;shallow water;temperature measurement;underwater vertical profiling float;weight changing capability;Bladder;Buoyancy;Ocean temperature;Sea measurements;Temperature measurement;Temperature sensors;accumulator bladder;autonomous profiling float;buoyancy control;cost-efficient float;marine vehicle;ocean temperature;passive anchors;persistent monitoring;under-actuated}, 
doi={10.1109/OCEANS.2016.7761176}, 
month={Sept},}

@INPROCEEDINGS{Xanthidis2016Shallow, 
author={M. Xanthidis and A. Q. Li and I. Rekleitis}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Shallow coral reef surveying by inexpensive drifters}, 
year={2016}, 
pages={1-9}, 
abstract={Coral reefs exhibit the highest biodiversity in the ocean and are an extremely vulnerable ecosystem. Monitoring the state of the reefs is a tedious process performed by human divers which can be automated. This paper presents the use of several inexpensive drifting sensor nodes in order to reconstruct a visual mosaic of a shallow coral reef. The drifters produce geo-referenced visual data from a downward facing camera while floating above a shallow-water coral reef. The vision is augmented with inertial data enabling the recovery of the drifter's attitude. A brief description of the drifters together with a framework to produce visual mosaics are discussed. Experimental results from a deployment over the Folkestone Marine Reserve in Barbados demonstrating the utility of our approach are presented.}, 
keywords={ecology;geophysical image processing;oceanographic equipment;sensors;Barbados;Folkestone Marine Reserve;camera;ecosystem;georeferenced visual data;human diver;inexpensive drifter;inexpensive drifting sensor node;shallow coral reef surveying;shallow coral reef visual mosaic reconstruction;Cameras;Feature extraction;Global Positioning System;Monitoring;Robot sensing systems;Visualization}, 
doi={10.1109/OCEANSAP.2016.7485639}, 
month={April},}

@Article{Xiang2018Survey,
author="Xiang, Xianbo
and Yu, Caoyang
and Lapierre, Lionel
and Zhang, Jialei
and Zhang, Qin",
title="Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles",
journal="International Journal of Fuzzy Systems",
year="2018",
month="Feb",
day="01",
volume="20",
number="2",
pages="572--586",
abstract="Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots---marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi--Sugeno--Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.",
issn="2199-3211",
doi="10.1007/s40815-017-0401-3",
url="https://doi.org/10.1007/s40815-017-0401-3"
}


@article{Xiao2012Nonlinear,
title="Nonlinear Robust Heading Control for Sailing Yachts",
journal="IFAC Proceedings Volumes",
volume="45",
number="27",
pages="404 - 409",
year="2012",
note="9th IFAC Conference on Manoeuvring and Control of Marine Craft",
issn="1474-6670",
doi="http://dx.doi.org/10.3182/20120919-3-IT-2046.00069",
url="http://www.sciencedirect.com/science/article/pii/S1474667016312630",
author="Lin Xiao and Thor I. Fossen and Jerome Jouffroy",
keywords="sailing yachts",
keywords="nonlinear system",
keywords="ℒ adaptive control",
keywords="robust control",
keywords="heading control",
abstract="In this paper, we present ℒ1 adaptive control theory to provide stabilization of the sailing yachts around any desired heading angle. The nonlinear heading model of the sailing yachts, which is presented in a recent paper, is expressed as a linear time-invariant system, i.e. the first-order Nomoto model, for which an ℒ1 adaptive heading controller is designed. A conventional PID heading controller is also constructed by pole-placement for the yacht system, and the previously presented backstepping controller is redesigned by adding an integral action. Afterwards, the performance achieved with the ℒ1 controller is compared with that obtained via the backstepping controller and the PID benchmark controller. Simulation results show that the ℒ1 heading controller ensures stable tracking and guarantees robustness. Furthermore, the performance of the ℒ1 surpasses that of the rest two controllers in terms of robustness when considering the unknown plant parameters, and energy saving is achieved by less rudder deflections in comparison to PID control."
}

@INPROCEEDINGS{Xiao2017UAV,
author={X. Xiao and J. Dufek and T. Woodbury and R. Murphy},
booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={UAV assisted USV visual navigation for marine mass casualty incident response},
year={2017},
pages={6105-6110},
abstract={This research teams an Unmanned Surface Vehicle (USV) with an Unmanned Aerial Vehicle (UAV) to augment and automate marine mass casualty incident search and rescue in emergency response phase. The demand for real-time responsiveness of those missions requires fast and comprehensive situational awareness and precise operations, which are challenging to achieve because of the large area and the flat nature of the water field. The responders, drowning victims, and rescue vehicle are far apart and all located at the sea level. The long distances mean responders cannot clearly discern the rescue vehicle and victims from the surrounding water. Furthermore, being at the same elevation makes depth perception difficult. Rescue vehicle and victims at different distances from the responder will always appear to be close together. This makes it almost impossible for the responders to accurately drive the USV to the victims in time. This paper proposes the use of a UAV to compensate for the lack of elevation of the responders and to automate search and rescue operations. The benefit of this system is two fold: 1) the UAV provides responders with an overhead view of the field, covers larger area than direct visual, and allows more accurate perception of the situation, and 2) it automates the rescue process so that the responders can focus on task-level needs instead of tediously driving the USV to the victims. Thirty autonomous navigation trials in 4 rescue scenarios prove the first known successful implementation of a small UAV visually navigating a USV.},
keywords={autonomous aerial vehicles;emergency management;emergency services;marine navigation;rescue robots;robot vision;UAV;USV visual navigation;emergency response phase;marine mass casualty incident response;marine mass casualty incident search;real-time responsiveness;rescue operations;rescue process;rescue vehicle;unmanned aerial vehicle;unmanned surface vehicle;water field;Boats;Cameras;Navigation;Robots;Streaming media;Unmanned aerial vehicles;Visualization},
doi={10.1109/IROS.2017.8206510},
ISSN={},
month={Sept},}

@article{Xie2015Research,
author={Shaorong Xie and Jiqing Chen and Hengyu Li and Jun Luo and Huayan Pu and Yan Peng},
title={The research on wing sail of a land-yacht robot},
journal={Advances in Mechanical Engineering},
volume={7},
number={12},
pages={1687814015623144},
year={2015},
doi={10.1177/1687814015623144},
URL={http://dx.doi.org/10.1177/1687814015623144},
eprint={http://dx.doi.org/10.1177/1687814015623144},
abstract={ A wind-driven land-yacht robot which will be applied in polar expedition is presented in this article. As the main power of robot is provided by wing sail, improving the efficiency of wing sail is the key for its motion. Wing sail is composed of airfoil, so airfoil theory is researched first, and then several airfoils and their aerodynamic performance are compared, and a high-efficiency airfoil is selected. After that, overturning torque and start wind speed of robot are analyzed to determine the size of the wing sail. At last, the wing sail is manufactured and checked, and it is tested by start wind speed experiments, running speed experiments, steering motion, and obstacle avoidance experiments. The minimum start wind speed is 6 m/s. When wind speed is 10.3 m/s and angle of attack is 90°, running velocity of robot is 1.285 m/s. A land-yacht robot can run steering motion well and avoid obstacle to the target. The result shows that wing sail satisfies the motion requirement of land-yacht robot. }
}

@incollection{Xiong2016Design,
author={Xiong, Junfeng and Gu, Feng and Li, Decai and He, Yuqing and Han, Jianda},
title={Design, Implementation and Modeling of Flooding Disaster-Oriented USV},
booktitle={Recent Advances in Robotic Systems},
publisher={InTech},
address={Rijeka},
year={2016},
editor={Wang, Guanghui},
chapter=02,
doi={10.5772/64305},
url={http://dx.doi.org/10.5772/64305},
abstract={Although there exist some unmanned surface platforms, and parts of them have been applied in flooding disaster relief, the autonomy of these platforms is still so weak that most of them can only work under the control of operators. The primary reason is the difficulty of obtaining a dynamical model that is sufficient rich for model-based control and sufficient simple for model parameters identification. This makes them difficult to be used to achieve some high-performance autonomous control, such as robust control with respect to disturbances and unknown dynamics and trajectory tracking control in complicated and dynamical surroundings. In this chapter, a flooding disaster-oriented unmanned surface vehicle (USV) designed and implemented by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) is introduced first, including the hardware and software structures. Then, we propose a quasi-linear parameter varying (qLPV) model to approach the dynamics of the USV system. We first apply this to solve a structured modeling problem and then introduce model error to solve an unstructured modeling problem. Subsequently, the qLPV model identification results are analyzed and the superiority compared to two linear models is demonstrated. At last, extensive application experiments, including rescuing rope throwing using an automatic pneumatic and water sampling in a 2.5 m radius circle, are described in detail to show the performance of course keeping control and GPS point tracking control based on the proposed model.},
}

@article{Xiong2012Unmanned,
  title={An unmanned surface vehicle for multi-mission applications},
  author={XIONG, Ya-zhou and ZHANG, Xiao-jie and FENG, Hai-tao and WANG, Jian-hua},
  journal={Ship Engineering},
  volume={1},
  pages={16--19},
  year={2012}
}

@Article{Yan2010Development,
author="Yan, Ru-jian and Pang, Shuo and Sun, Han-bing and Pang, Yong-jie",
title="Development and missions of unmanned surface vehicle",
journal="Journal of Marine Science and Application",
year="2010",
volume="9",
number="4",
pages="451--457",
abstract="The navy and other Department of Defense organizations are increasingly interested in the use of unmanned surface vehicles (USVs) for a variety of missions and applications. The term USV refers to any vehicle that operates on the surface of the water without a crew. USVs have the potential, and in some cases the demonstrated ability, to reduce risk to manned forces, provide the necessary force multiplication to accomplish military missions, perform tasks which manned vehicles cannot, and do so in a way that is affordable for the navy. A survey of USV activities worldwide as well as the general technical challenges of USVs was presented below. A general description of USVs was provided along with their typical applications. The technical challenges of developing a USV include its intelligence level, control, high stability, and developmental cost reduction. Through the joint efforts of researchers around the world, it is believed that the development of USVs will enter a new phase in the near future, as USVs could soon be applied widely both in military and civilian service.",
issn="1993-5048",
doi="10.1007/s11804-010-1033-2",
url="http://dx.doi.org/10.1007/s11804-010-1033-2"
}

@article{Yang2011Multifunctional,
author={Wen-Rong Yang and Cing-Ying Chen and Chao-Min Hsu and Chiung-Jung Tseng and Wen-Chang Yang},
title={Multifunctional Inshore Survey Platform with Unmanned Surface Vehicles},
journal={International Journal of Automation and Smart Technology},
volume={1},
number={2},
year={2011},
keywords={disaster prevention; unmanned surface vehicle; GPS; inshore research},
abstract={Because of extreme weather and frequent natural disasters, improvement of disaster prevention capabilities and early warning technologies is an urgent matter. Inshore areas are where ocean and land intersect; the sea conditions and environment are complex and changeable, and human activities are frequent in these areas. Natural disasters, such as a substantial rise in sea levels, coastal erosion and transitions, and rapid flooding from tsunamis, and human development projects, pollution, and ecological damage must be thoroughly investigated, monitored, recorded, and prevented. The west coast of Taiwan, particularly the southeast coastal plain, is a highly populated narrow area; thus, field survey tools with a high degree of freedom and flexible applications are required for data collection to reach its full potential. The Taiwan Ocean Research Institute developed an unmanned surface vehicle (USV) for the “Long Term Observation for Research Performed in TORI” 2010 project. This USV is a platform that integrates scientific equipment, including Wi-Fi communication and a satellite-based global positioning system (GPS) with navigation images and signals, to form an internal network with onshore control bases to allow the instant acquisition of measured data and enable researchers to conduct surveys in safe conditions. USVs are appropriate for various types of inshore research and surveys, such as marine topography, sediment disposition analysis, inshore engineering measurements, and the monitoring of hydrology, water quality, and the environment. One aim of the Taiwan Ocean Research Institute (TORI) is to establish a method to use the USV for collecting inshore marine topography, hydrology, water quality, and meteorological data. Integrating field investigations of Taiwan’s coastal waters will provide data for verifying numerical simulations and lead scientists to explore novel and unknown areas.},
issn={2223-9766},	url={http://www.ausmt.org/index.php/AUSMT/article/view/122}
}

@INPROCEEDINGS{Yu2012New, 
author={H. Yu and A. Shen and L. Peng}, 
booktitle={2012 Proceedings of International Conference on Modelling, Identification and Control}, 
title={A new Autonomous Underwater Robotic Fish designed for water quality monitoring}, 
year={2012}, 
pages={561-566}, 
abstract={Due to the water pollution and eutrophication in East Lake in Wuhan, we have developed a novel Autonomous Underwater Robotic Fish (AURF) to patrol the whole lake to perform water quality monitoring task. It has two major missions: one is to patrol throughout complex lakes to detect water quality; the other is to monitor the water quality of fixed positions successively. This paper provides an overview of vehicle design, motion control, positioning, path planning, fault diagnosis and fault tolerant control. The test experiment is now undergoing extensive testing in several lakes. We are expecting that this AURF will contribute to solving serious pollution problems occurring in East Lake.}, 
keywords={AUV;Autonomous;Robotic Fish;Water Quality Monitoring}, 
month={June},}

@INPROCEEDINGS{Yu2017UAV,
author={H. Yu and W. Yang and H. Zhang and W. He},
booktitle={2017 IEEE International Geoscience and Remote Sensing Symposium (IGARSS)},
title={A UAV-based crack inspection system for concrete bridge monitoring},
year={2017},
volume={},
number={},
pages={3305-3308},
abstract={Crack inspection is one of the most important tasks for concrete bridge monitoring. Traditionally, human-based inspection systems using people's eyes are unsafe and costly. To overcome this problem, a novel unmanned aerial vehicle (UAV) based inspection system is developed to detect cracks on the lateral sides and underside of bridges. Applying obstacle avoidance modules, UAV can reach bridges' lateral sides and underside within a safe distance. Thus the onboard camera can capture images of bridge surface in a high resolution. To locate the positions of cracks and solve the problem of limited horizon of single image, a fast feature-based stitching algorithm is developed. Then an edge detection method using structured forests is utilized to detect cracks on the large panorama. With image distortion corrected, the positions of cracks can be located on the large panorama. Experimental results validate the applicability and efficiency of the proposed UAV-based crack inspection system.},
keywords={autonomous aerial vehicles;bridges (structures);cameras;condition monitoring;crack detection;edge detection;image capture;image resolution;inspection;structural engineering computing;UAV;bridge surface;bridges;concrete bridge monitoring;crack inspection system;edge detection;feature-based stitching algorithm;human-based inspection systems;image capture;image resolution;lateral sides;unmanned aerial vehicle;Bridges;Cameras;Concrete;Image edge detection;Inspection;Robots;Unmanned aerial vehicles;UAV;bridge crack inspection;image stitching;structured forests},
doi={10.1109/IGARSS.2017.8127704},
ISSN={},
month={July},}

@inproceedings{Wang2003Emerging,
 author={Wang, Jijun and Lewis, Michael and Gennari, Jeffrey},
 title={Emerging Areas: Urban Operations and UCAVs: A Game Engine Based Simulation of the NIST Urban Search and Rescue Arenas},
 booktitle={Proceedings of the 35th Conference on Winter Simulation: Driving Innovation},
 series={WSC '03},
 year={2003},
 isbn={0-7803-8132-7},
 location={New Orleans, Louisiana},
 pages={1039--1045},
 numpages={7},
 url={http://dl.acm.org/citation.cfm?id=1030818.1030956},
 acmid={1030956},
 publisher={Winter Simulation Conference},
} 

@INPROCEEDINGS{Wang2009Unmanned,
author={J. Wang and W. Gu and J. Zhu and J. Zhang},
booktitle={2009 International Conference on Electronic Computer Technology},
title={An Unmanned Surface Vehicle for Multi-mission Applications},
year={2009},
volume={},
number={},
pages={358-361},
abstract={This paper presents an Unmanned Surface Vehicle (USV) for multi-mission applications. A small catamaran equipped with remotely operated system based on wireless local area network is developed and used as a universal platform. Outfitted with different appliances and instruments, the USV is tested for various applications including harbor surveillance, water quality sampling, hydrologic survey, maritime search and rescue. Experiments show that the USV is applicable.},
keywords={marine vehicles;remotely operated vehicles;wireless LAN;catamaran;harbor surveillance;hydrologic survey;maritime search and rescue;multimission applications;remotely operated system;unmanned surface vehicle;water quality sampling;wireless local area network;Base stations;Communication system control;Instruments;Marine vehicles;Payloads;Propellers;Sampling methods;Sea surface;Surveillance;Testing;harbor surveillance;hydrologic survey;maritime search and rescue;unmanned surface vehicle;water quality sampling},
doi={10.1109/ICECT.2009.136},
ISSN={},
month={Feb},}

@article{Wang2015Low,
author={Wang, Gang and Zeng, Zhixiang and Wang, He and Zhang, Lin and Sun, Xiaodong and He, Yi and Li, Longyang and Wu, Xuedong and Ren, Tianhui and Xue, Qunji},
title={Low Drag Porous Ship with Superhydrophobic and Superoleophilic Surface for Oil Spills Cleanup},
journal={ACS Applied Materials \& Interfaces},
volume={7},
number={47},
pages={26184-26194},
year={2015},
doi={10.1021/acsami.5b08185},
note ={PMID: 26562211},
URL={http://dx.doi.org/10.1021/acsami.5b08185},
eprint={http://dx.doi.org/10.1021/acsami.5b08185},
abstract={ To efficiently remove and recycle oil spills, we construct aligned ZnO nanorod arrays on the surface of the porous stainless steel wire mesh to fabricate a porous unmanned ship (PUS) with properties of superhydrophobicity, superoleophilicity, and low drag by imitating the structure of nonwetting leg of water strider. The superhydrophobicity of the PUS is stable, which can support 16.5 cm water column with pore size of 100 μm. Water droplet can rebound without adhesion. In the process of oil/water separation, when the PUS contacts with oil, the oil is quickly pulled toward and penetrates into the PUS automatically. The superhydrophobicity and low water adhesion force of the PUS surface endow the PUS with high oil recovery capacity (above 94\%) and drag-reducing property (31\% at flowing velocity of 0.38m/s). In addition, the PUS has good corrosion resistance and reusability. We further investigate the wetting behavior of water and oil, oil recovery capacity, drag-reducing property, and corrosion resistance of the PUS after oil absorbed. The PUS surface changes significantly from superhydrophobic to hydrophobic after absorbing oil. However, the oil absorbed PUS possesses better drag-reducing property and corrosion resistance due to the changes of the motion state of the water droplets. }
}

@article{Wang2014Antivibration,
author={ Bin  Wang,Wenhai  Xu,Ming  Zhao,Houde  Wu},
title={Antivibration pipeline-filtering algorithm for maritime small target detection},
journal={Optical Engineering},
volume={53},
number={},
pages={53 - 53 - 11},
abstract={When searching for small targets at sea based on an infrared imaging system, irregular and random vibration of the airborne imaging platform causes intense interference for the pipeline-filtering, which is an algorithm that performs well in detecting small targets but is particularly sensitive to interframe vibrations of sequence images. This paper puts forward a pipeline-filtering algorithm that has a good performance on self-adaptive antivibration. In the block matching method that combines the normalized cross-correlations coefficient with the normalized mutual information, the interframe vibration of sequence images is acquired in real time and used to correct coordinates of the single-frame detection results, and then the corrected detection results are used to complete the pipeline-filtering. In addition, under severe sea conditions, small targets at sea may disappear transiently, leading to missing detection. This algorithm is also able to resolve this problem. Experimental results show that the algorithm can overcome the problem of interframe vibration of sequence images, thus realizing accurate detection of small maritime targets.},
year={2014},
doi={10.1117/1.OE.53.11.113109},
URL={https://doi.org/10.1117/1.OE.53.11.113109},
eprint={}
}

@article{Wang2016Development,
author={Rui Wang and Youhei Kawamura},
year={2016},
title={Development of climbing robot for steel bridge inspection}, 
journal={Industrial Robot: An International Journal},
volume={43},
nuber={4},
pages={429-447},
url={https://doi.org/10.1108/IR-09-2015-0186},
doi={10.1108/IR-09-2015-0186},
abstract={Purpose
The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force.
Design/methodology/approach
The robot has the main advantages of being compact (352 × – 215 × – 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners.
Findings
The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented.
Originality/value
Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.},
keywords={Inspection;Robot design;Magnetic wheel;Steel bridge},
}

@INPROCEEDINGS{Wang2016Unmanned, 
author={J. Wang and F. Ren and Z. Li and Z. Liu and X. Zheng and Y. Yang}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Unmanned surface vessel for monitoring and recovering of spilled oil on water}, 
year={2016}, 
pages={1-4}, 
abstract={This paper proposes a solution for recovery of spilled oil on dangerous water area with an Unmanned Surface Vehicle(USV). A Dynamic Inclined Plane Skimmer(DIPS) is placed on the front deck of the USV so that it can run to the destination at high speed. For automatic deployment of the DIPS onto the water, a mechanism consisting of two pillars fixed on each side of the front deck, a portal-type frame joined to the pillars by hinges and two wire ropes is designed. The DIPS and the mechanism are driven by hydraulic power from a pump geared to the engine, and controlled by proportional valves. The remote control system of the USV is based on a wireless LAN to guarantee real-time transmission of 8 channels of video, the command instructions and state data of the USV as well as the spilled oil recovery system. Experiments on water show that the solution is applicable.}, 
keywords={environmental monitoring (geophysics);marine pollution;oceanographic equipment;oil pollution;remotely operated vehicles;dynamic inclined plane skimmer;front deck;hydraulic power;pillar;portal-type frame;real-time video channel transmission;remote control system;spilled oil monitoring;spilled oil recovering;spilled oil recovery system;unmanned surface vehicle;unmanned surface vessel;wire rope;wireless LAN;Base stations;Cameras;Electronics packaging;Monitoring;Real-time systems;Sea surface;Streaming media;Monitoring;Recovery;Spilled Oil;Uunmanned Surface Vehicle}, 
doi={10.1109/OCEANSAP.2016.7485405}, 
month={April},}

@INPROCEEDINGS{Watanabe2016Field, 
author={A. Watanabe and M. Kuri and K. Nagatani}, 
booktitle={2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={Field report: Autonomous lake bed depth mapping by a portable semi-submersible USV at Mt. Zao Okama Crater lake}, 
year={2016}, 
pages={214-219}, 
abstract={This work presents a design and a field test result of a small USV system that has portability and wind tolerance for a lake bed depth mapping of volcanic crater lakes. The depth map of the crater lakes indicates an amount of water, crater wall caving, and volcanic upthrust, which is used for volcanic disaster prevention. However, today's depth surveillance is achieved by using a manned canoe on a lake in high-altitude, strong-winded, and restricted areas. This research is aiming to realize the autonomous Unmanned Surface Vehicle (USV) for volcanic crater lake surveillance in reducing risks to surveyors. In this research, the authors have developed the lightweight semisubmersible USV system with a high draft that has portability and wind tolerance. The result of a field test at Mt. Zao Okama Crater Lake is shown. A depth map of the north half of the Okama Crater Lake was autonomously measured by using the USV system.}, 
keywords={emergency management;hydrological equipment;hydrological techniques;lakes;mobile robots;remotely operated vehicles;surveillance;volcanology;wind;Mt. Zao Okama Crater Lake;autonomous lake bed depth mapping;autonomous unmanned surface vehicle;crater lake depth map;crater wall caving;depth surveillance;high-altitude areas;lake bed depth mapping;manned canoe;portable semisubmersible USV;restricted areas;small USV system;strong-winded areas;volcanic crater lake surveillance;volcanic crater lakes;volcanic disaster prevention;volcanic upthrust;wind tolerance;Angular velocity;Brushless motors;Lakes;Navigation;Propellers;Robots;Surveillance}, 
doi={10.1109/SSRR.2016.7784301}, 
month={Oct},}

@article {Weeks2011Comparison,
author="Weeks, Eddie and Li, Chunyan and Roberts, Harry and Shaw, Richard F. and Walker, Nan",
title="A Comparison of an Unmanned Survey Vessel to Manned Vessels for Nearshore Tidal Current and Transport Measurements",
journal="Marine Technology Society Journal",
volume="45",
number="5",
year="2011",
abstract="The focus of marine autonomous vehicles has largely been for offshore applications. The use of such observational platforms in estuaries and coastal embayments has been limited by the designs of the widely used AUVs, which are mostly for open ocean studies. Here we discuss the development and testing of an automated unmanned boat for shallow water use for (1) current velocities using an acoustic Doppler current profiler, (2) bathymetry using an echo sounder, (3) seabed configuration using a side-scan sonar, or (4) shallow, sub-bottom stratigraphy using a chirp sonar. After 91 h and 453 km of total distance surveyed, results demonstrate the numerous advantages this automated boat (Auto-boat) possesses over manned survey vessels. For example, the Auto-boat had the advantage in the accuracy of repeating a planned route continuously over at least a tidal cycle to resolve tidal and subtidal current velocity profiles. It provides endurance, energy efficiency, ease of operation, and capability of coverage of shallow areas close to shore.",
pages="71-77",
itemtype="ARTICLE",
parent_itemid="infobike://mts/mtsj",
issn="0025-3324",
publishercode ="mts",
url="http://www.ingentaconnect.com/content/mts/mtsj/2011/00000045/00000005/art00008",
doi="doi:10.4031/MTSJ.45.5.7",
keyword="survey vessel, acoustic Doppler current profiler, unmanned, automated, transport measurements"
}

@ARTICLE{Webb2001SLOCUM, 
author={D. C. Webb and P. J. Simonetti and C. P. Jones}, 
journal={IEEE Journal of Oceanic Engineering}, 
title={SLOCUM: an underwater glider propelled by environmental energy}, 
year={2001}, 
volume={26}, 
number={4}, 
pages={447-452}, 
abstract={SLOCUM is a small gliding AUV of 40 000-km operational range which harvests its propulsive energy from the heat flow between the vehicle engine and the thermal gradient of the temperate and tropical ocean. The design of both the glider and the thermal engine are discussed including the design genesis and approach, field trial results, concept strength, and limitations and potential use}, 
keywords={oceanographic equipment;propulsion;remotely operated vehicles;underwater vehicles;0 to 40000 km;AUV;SLOCUM;environmental energy propulsion;field trial;heat flow;operational range;temperate ocean;thermal gradient;thermal propulsion;tropical ocean;underwater glider;vehicle engine;Battery powered vehicles;Communication system control;Control systems;Displacement control;Heat engines;Heat sinks;Marine vehicles;Ocean temperature;Propulsion;Sea surface}, 
doi={10.1109/48.972077}, 
ISSN={0364-9059}, 
month={Oct},}

@INPROCEEDINGS{Wiggins2010Monitoring, 
author={S. Wiggins and J. Manley and E. Brager and B. Woolhiser}, 
booktitle={OCEANS 2010 MTS/IEEE SEATTLE}, 
title={Monitoring marine mammal acoustics using Wave Glider}, 
year={2010}, 
pages={1-4}, 
abstract={The Wave Glider, a wave-powered unmanned maritime vehicle (UMV), represents a novel and unique approach to persistent ocean presence. Wave Gliders harvest the abundant energy contained in ocean waves to provide essentially limitless propulsion. The Wave Glider can operate as a vessel, covering long distances in the ocean, or as a station-keeping platform. Wave Gliders have demonstrated long open-ocean transits and extended deployments of up to one year. The High-frequency Acoustic Recording Package (HARP) is an autonomous data logging system optimized for long-term, broad-band marine mammal monitoring. The HARP system includes low-power electronics, high-speed data sampling, large capacity data storage, and batteries for self-contained power. In addition to housing the data logger, a hydrophone was designed to be towed behind the Wave Glider. Together, Scripps Institution of Oceanography and Liquid Robotics combined these two technologies to demonstrate a new approach to marine mammal monitoring. Providing a mobile, long-endurance and fully connected platform for acoustic monitoring, the Wave Glider with HARP enables new scientific results and improved economics. Over a series of engineering and scientific evaluations, the HARP system has proven effective for monitoring marine mammals when deployed on the Wave Glider. In this paper, we give an overview of the Wave Glider platform and integrated HARP system, and present results from the extensive engineering sea trials conducted with several prototype and production versions of the vehicle and data logger.}, 
keywords={data loggers;hydrophones;ocean waves;oceanographic equipment;remotely operated vehicles;Scripps Institution of Oceanography and Liquid Robotics;Wave Glider platform;acoustic monitoring;autonomous data logging system;broad-band marine mammal monitoring;data logger;engineering sea trials;high-frequency acoustic recording package system;high-speed data sampling;hydrophone;large capacity data storage;marine mammal acoustics;ocean waves;open-ocean transits;station-keeping platform;wave-powered unmanned maritime vehicle;Acoustics;Broadband communication;Monitoring;Noise;Sonar equipment;Spectrogram;Vehicles}, 
doi={10.1109/OCEANS.2010.5664537}, 
ISSN={0197-7385}, 
month={Sept},}

@INPROCEEDINGS{Wilde2015Man, 
author={G. A. Wilde and R. R. Murphy and D. A. Shell and C. M. Marianno}, 
booktitle={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)}, 
title={A man-packable unmanned surface vehicle for radiation localization and forensics}, 
year={2015}, 
pages={1-6}, 
abstract={This paper describes the first known man-packable unmanned surface vehicle (USV) system designed for radiation localization, either for nuclear treaty verification or sampling after a nuclear incident. Currently, outdoor radiation sampling is done manually or by ground or aerial unmanned systems. An unmanned surface vehicle can operate in shallow nuclear facility cooling ponds and connected streams, rivers, and bays to sample without entering the facility and while maintaining network connectivity to report readings. The Challenge 1 USV is a Lutra 1.1 autonomous airboat modified to carry an UltraRadiacTM. The debris-free area to survey is determined by teleoperation, then the system autonomously generates and executes a novel spiral path and sampling policy. Challenge 1 was tested for proof-of-concept at Texas A\&M Engineering Extension Service's Disaster City with a cesium-137 source placed near one shore of a pond 72 meters from the deployment point. During this test, 775 radiation readings were taken over an area of 57.61 square meters in 18 minutes. These data were used by an inverse distance weighting interpolation algorithm to produce a visual heatmap.}, 
keywords={forensic science;marine vehicles;mobile robots;nuclear engineering;remotely operated vehicles;telerobotics;Challenge 1 USV;Disaster City;Lutra 1.1 autonomous airboat;Texas A&M Engineering Extension Service;UltraRadiac;cesium-137 source;forensics;inverse distance weighting interpolation algorithm;man-packable unmanned surface vehicle;nuclear incident;nuclear treaty verification;radiation localization;radiation sampling;teleoperation;time 18 min;Boats;Cooling;Heating;Interpolation;Sensors;Vehicles;Visualization}, 
doi={10.1109/SSRR.2015.7442944}, 
month={Oct},}

@mastersthesis{Wilde2016Path,
title={Path Plan Performance Evaluation of the Challenge 1: A Small Unmanned Surface Vehicle for Radiation Detection and Mapping},
author={Wilde, Grant Andrew},
type={Master's Thesis},
school={Texas A \& M University},
institution={Texas A \& M University},
year={2016},
howpublished={Master's thesis, Texas A \& M University. Available electronically from \url{http://hdl.handle.net/1969.1/158114}},
}

@INPROCEEDINGS{Wilde2018User,
author={G. A. Wilde and R. R. Murphy},
booktitle={2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={User Interface for Unmanned Surface Vehicles Used to Rescue Drowning Victims},
year={2018},
volume={},
number={},
pages={1-8},
abstract={This work details the look and feel of a Graphical User Interface for Unmanned Surface Vehicles (USV) used for marine mass casualty events based on feedback from the Italian Coast Guard, Los Angeles Country Fire Department (LACoFD), Pima County FD, Castrium Rescue Brigade, Department of Homeland Security, and Defense Research and Development Canada First Responders Groups. The current state of USV interface design centers on 1) ergonomic handheld devices, such as a Futaba, for teleoperation missions, or 2) non-ergonomic laptops with Mission Planner (MP) style of interfaces or teleoperation and autonomous missions. Pure, teleoperated USVs do not offer the operator needed information in terms of robot health or status. USVs with autonomous capabilities controlled and monitored via MP are not first responder friendly. Important artifacts as to the status of the vehicle are not always easily accessible. This work is a simplified, easy to use interface into the USV. This new interface combines the key artifacts in a user-friendly, tablet-based application, as well as facilitates the operator with the control and operation of the USV. This approach will first strengthen responder's trust in USVs. Second, this interface will facilitate responders during a rescue mission by simplifying the USVs control which will allow the responder to focus his or her attention to more pertinent tasks. A strengthened since of trust by first responders in using USVs will facilitate in the victim to lifeguard ratio that currently plagues responders today. The initial prototype and second version of the interface were critiqued by the Castrium Rescue Brigade and LACoFD Baywatch. The final version incorporated all feedback attained and was tested at the DHS CAUSE V Exercise in Bellingham, WA.},
keywords={control engineering computing;emergency services;graphical user interfaces;marine vehicles;mobile robots;remotely operated vehicles;marine mass casualty events;Los Angeles Country Fire Department;Castrium Rescue Brigade;USV interface design centers;teleoperation missions;nonergonomic laptops;autonomous missions;teleoperated USVs;rescue mission;unmanned surface vehicles;graphical user interface;LACoFD Baywatch;Robots;Graphical user interfaces;Portable computers;Fires;Sea surface;Navigation;Commercialization},
doi={10.1109/SSRR.2018.8468608},
ISSN={2475-8426},
month={Aug},}

@INPROCEEDINGS{Wong2017Overview,
author={C. Wong and E. Yang and X. T. Yan and D. Gu},
booktitle={2017 23rd International Conference on Automation and Computing (ICAC)},
title={An overview of robotics and autonomous systems for harsh environments},
year={2017},
volume={},
number={},
pages={1-6},
abstract={Across a wide range of industries and applications, robotics and autonomous systems can fulfil crucial and challenging tasks such as inspection, exploration, monitoring, drilling, sampling and mapping in areas of scientific discovery, disaster prevention, human rescue and infrastructure management etc. However, in many situations, the associated environment is either too dangerous or inaccessible to humans. Hence, a wide range of robots have been developed and deployed to replace or aid humans in these activities. A look at these harsh environment applications of robotics demonstrate the diversity of technologies developed. This paper reviews some key application areas of robotics that involve interactions with harsh environments (such as search and rescue, space exploration, and deep-sea operations), giving an overview of the developed technologies, and provides a discussion of the key trends and future directions common to many of these areas.},
keywords={disasters;emergency services;mobile robots;service robots;telerobotics;autonomous systems;disaster prevention;harsh environments;human rescue;infrastructure management;mapping;robots;sampling;scientific discovery;space exploration;Inspection;Pipelines;Robot sensing systems;Wireless sensor networks;autonomous systems;harsh environments;human-robot interaction;robotics;tele-operation},
doi={10.23919/IConAC.2017.8082020},
ISSN={},
month={Sept},}

@misc{Woodland2001Autonomous,
  title={Autonomous marine vehicle},
  author={Woodland, R.L.K.},
  url={https://www.google.com/patents/US6269763},
  year={2001},
  month="Aug",
  publisher={Google Patents},
  note={US Patent 6,269,763}
}

@INPROCEEDINGS{Wrede2015Online, 
author={D. Wrede and J. Adam and J. Jouffroy}, 
booktitle={2015 IEEE Conference on Control Applications (CCA)}, 
title={Online optimization of different objectives in robotic sailing: Simulations and experiments}, 
year={2015}, 
pages={876-881}, 
abstract={This paper investigates online optimization for the different objectives found in robotics sailing such as sailing angle optimization, but also the so-called Velocity-Made-Good, as well as heel angle optimization used as a means to detect an edge of the deadzone. Simulation as well as experimental results on an autonomous sailing platform are presented.}, 
keywords={marine control;mobile robots;optimisation;autonomous sailing platform;deadzone edge detection;heel angle optimization;online optimization;robotic sailing;sailing angle optimization;velocity-made-good;Boats;Heuristic algorithms;Image edge detection;Mathematical model;Optimization;Vehicle dynamics;Vehicles;Sailing robotics;hill-climbing;online optimization;sail control}, 
doi={10.1109/CCA.2015.7320728}, 
ISSN={1085-1992}, 
month={Sept},}

@article{Wrobel2016Towards,
  author="K. Wr\'{o}bel and P. Krata and J. Montewka and T. Hinz",
  title="Towards the Development of a Risk Model for Unmanned Vessels Design and Operations",
  journal="TransNav : International Journal on Marine Navigation and Safety of Sea Transportation",
  volume="Vol. 10",
  number="2",
  year="2016",
  pages="267--274",
  abstract="An unmanned merchant vessel seems to be escaping from the stage of idea exploration. Once the concept proofs its safety, it may become a part of maritime reality. Although the safety aspect of such a ship has been addressed by a handful of scholars, the problem remains open. This is mainly due to lack of knowledge regarding actual operational circumstances and design of unmanned ships, which are yet to be developed. In the attempt of bridging this gap, the risk analysis associated with unmanned ships needs to be carried out, where all relevant hazards and consequences are assessed and quantified in systematic manner. In this paper we present the results of a first step of such analysis, namely the hazard analysis associated with the unmanned ships. The list of hazards covers various aspects of unmanned shipping originating from both design and operational phases of vessel’s life. Subsequently the hazards and related consequences are organized in a casual manner, resulting in the development of a structure of a risk model.",
}

@article{Wu2017Autonomous,
author={Peng Wu and Shaorong Xie and Hengli Liu and Ming Li and Hengyu Li and Yan Peng and Xiaomao Li and Jun Luo},
title={Autonomous obstacle avoidance of an unmanned surface vehicle based on cooperative maneuvering},
journal={Industrial Robot: An International Journal},
volume={44},
number={1},
pages={64-74},
year={2017},
doi={10.1108/IR-04-2016-0127},
URL={https://doi.org/10.1108/IR-04-2016-0127},
eprint={https://doi.org/10.1108/IR-04-2016-0127},
abstract={ Purpose Autonomous obstacle avoidance is important in unmanned surface vehicle (USV) navigation. Although the result of obstacle detection is often inaccurate because of the inherent errors of LIDAR, conventional methods typically emphasize on a single obstacle-avoidance algorithm and neglect the limitation of sensors and safety in a local region. Conventional methods also fail in seamlessly integrating local and global obstacle avoidance algorithms. This paper aims to present a cooperative manoeuvring approach including both local and global obstacle avoidance. Design/methodology/approach The global algorithm used in our USV is the Artificial Potential Field-Ant Colony Optimization (APF-ACO) obstacle-avoidance algorithm, which plans a relative optimal path on the specified electronic map before the cruise of USV. The local algorithm is a multi-layer obstacle-avoidance framework based on a single LIDAR to present an efficient solution to USV path planning in the case of sensor errors and collision risks. When obstacles are within a layer, the USV uses a corresponding obstacle-avoidance algorithm. Then the USV moves towards the global direction according to fuzzy rules in the fuzzy layer. Findings The presented method offers a solution for obstacle avoidance in a complex environment. The USV follows the global trajectory planed by the APF-ACO algorithm. While, the USV can bypass current obstacle in the local region based on the multi-layer method effectively. This fact was validated by simulations and field trials. Originality/value The method presented in this paper takes advantage of algorithm integration that remedies errors of obstacle detection. Simulation and experiments were also conducted for performance evaluation. }
}

@INPROCEEDINGS{Zarate2016High, 
author={L. Zarate and S. F. DiMarco and A. Knap and J. Walpert and K. A. Whilden}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={A high-frequency radar oceanic current monitoring system for the Texas coast}, 
year={2016}, 
pages={1-7}, 
abstract={The Texas coast represents an area of interest for a wide variety of stakeholders, including the oil industry (for both, exploration and operation purposes), fisheries and living resource management, ecosystem, coastal hazard mitigation and planning, and ocean and coastal education. For more than twenty years, the Texas coast has relied on the Texas Automated Buoy System (TABS) for real-time surface current measurements. In early 2016, the installation of a network of high-frequency coastal ocean radars was implemented to supplement the in situ observations of the TABS system with terrestrial-based remote sensing observations of surface currents. The first set of paired systems, located at Rollover Pass and Surfside Beach, Texas, are providing data hourly in near-real time. A comparison between the time series for the radar and buoys was made in order to determine the correlation coefficient between these signals; correlation coefficients above 0.5 were found for the three buoy locations included in this research, for both, the meridional and zonal component. This project represents the integration of the Texas coast into the high-frequency radar national network, and constitutes the first stage of a three methods comparison, which will include the data of the high frequency radar, an Autonomous Surface Vehicle and TABS.}, 
keywords={computerised monitoring;environmental monitoring (geophysics);geophysics computing;oceanography;remote sensing by radar;TABS;Texas automated buoy system;Texas coast;autonomous surface vehicle;coastal education;coastal hazard mitigation;coastal ocean radars;ecosystem;fisheries;high-frequency radar national network;living resource management;oceanic current monitoring system;oil industry;real-time surface current measurements;terrestrial-based remote sensing;Ocean temperature;Oils;Radar;Receiving antennas;Sea measurements;Sea surface;High-frequency radar;Texas Automated Buoy System;Texas coast;coastal currents;ocean observing systems}, 
doi={10.1109/OCEANS.2016.7761156}, 
month={Sept},}

@article{Zereik2018Challenges,
title = "Challenges and future trends in marine robotics",
journal = "Annual Reviews in Control",
volume = "46",
pages = "350 - 368",
year = "2018",
issn = "1367-5788",
doi = "https://doi.org/10.1016/j.arcontrol.2018.10.002",
url = "http://www.sciencedirect.com/science/article/pii/S1367578818300038",
author = "Enrica Zereik and Marco Bibuli and Nikola Mišković and Pere Ridao and António Pascoal",
keywords = "Marine robotics, Field applications, Future trends",
abstract = "Spawned by fast paced progress in marine science and technology, the past two decades have witnessed growing interest in ocean exploration and exploitation for scientific and commercial purposes, the development of technological products for the maritime and offshore industries, and a host of other activities in which the marine environment takes center stage. In this context, marine robotics has steadily emerged as a key enabling technology for the execution of increasingly complex and challenging missions at sea. Intensive research and development in this field have led to major advances and shown unequivocally the effectiveness and reliability of marine robotics solutions in several domains. This progress goes hand in hand with the availability of increasingly sophisticated acoustic networks for multiple, cooperative missions involving surface and underwater robots. At the root of this trend is the fruitful dialogue between robotic systems developers and end-users with the capacity to convert general mission objectives into functional and technical specifications that serve as application-driven requirements for engineering development. The result is the tremendous progress observed in the consolidated methodologies and procedures adopted and the consequent impact on science, industry, and the society at large. In spite of the progress in the area, however many challenges must still be faced and novel applications will continue to set further requirements for future generations of marine robots and their enabling systems. The time is therefore appropriate to overview recent trends in the field of marine robotics and assess their impact on several important application domains. With these objectives in mind, in the present paper we highlight key technological achievements in the field, analyze some of the shortcomings encountered, and indicate specific issues that warrant further research and development effort. To this end, we review a number of highly representative projects in the field, with due account for the theoretical frameworks upon which technological developments build upon. Finally, the paper concludes with an outlook on the future of marine robotics, both from a theoretical and practical standpoint, and describes recently initiated projects that hold promise for the development of advanced tools and systems for ocean exploration and exploitation."
}

@INPROCEEDINGS{Zhang2016Flooding, 
author={J. Zhang and J. Xiong and G. Zhang and F. Gu and Y. He}, 
booktitle={OCEANS 2016 - Shanghai}, 
title={Flooding disaster oriented USV UAV system development demonstration}, 
year={2016}, 
pages={1-4}, 
abstract={Flooding disasters have led to heavy costs including enormous property losses and casualties. The biggest challenge lies in rescue operation is the low efficiency and the high security risk of rescuers, which is also a problem focused on by this work. Unmanned system is one of the solution that replace people in the rescue operation. However, there are still some obvious defects of unmanned system that are difficult to overcome, such as the limited perspective of the Unmanned Surface Vehicle (USV) and the short flight endurance of a micro multi-rotor craft also called little Unmanned Aerial Vehicle (UAV). At the same time, they both have other advantages that the other one does not have, for instance, the long cruising ability of the USV and the broad horizons of the UAV. Thus in this paper we try to combine the superiorities of the USV and the UAV to make up for their defects, as a result, the whole system will be able to own a broad vision and a long cruising power.}, 
keywords={autonomous aerial vehicles;autonomous underwater vehicles;emergency management;floods;microrobots;rescue robots;cruising ability;flooding disaster oriented UAV system;flooding disaster oriented USV system;little unmanned aerial vehicle;micro multirotor craft;rescue operation;security risk;short flight endurance;unmanned surface vehicle;Batteries;Computers;Floods;Robots;Sea surface;Trajectory;Vehicles;Air-surface robot system;Cooperation;UAV;USV}, 
doi={10.1109/OCEANSAP.2016.7485676}, 
month={April},}

@ARTICLE{Zhang2016Autonomous, 
author={F. Zhang and O. Ennasr and E. Litchman and X. Tan}, 
journal={IEEE Systems Journal}, 
title={Autonomous Sampling of Water Columns Using Gliding Robotic Fish: Algorithms and Harmful-Algae-Sampling Experiments}, 
year={2016}, 
volume={10}, 
number={3}, 
pages={1271-1281}, 
abstract={Gliding robotic fish, which is a hybrid of underwater gliders and robotic fish, is energy efficient and highly maneuverable and holds strong promise for long-duration monitoring of underwater environments. In this paper, a novel scheme is proposed for autonomously sampling multiple water columns using gliding robotic fish. The scheme exploits energy-efficient spiral-down motion to sample each water column, followed by sagittal-plane glide-up toward the direction of the next water column. Once surfacing, the robot uses Global Positioning System guidance to reach the next column location through swimming. To enhance the path-tracking performance, a two-degree-of-freedom controller involving H∞ control is used in the spiral motion, and a sliding-mode controller is employed to regulate the yaw angle during glide-up. The sampling scheme has been implemented on a gliding robotic fish prototype, “Grace,” and verified first in pool experiments and then in field experiments involving the sampling of harmful algae concentration in the Wintergreen Lake, Michigan.}, 
keywords={Global Positioning System;H∞ control;autonomous underwater vehicles;environmental monitoring (geophysics);mobile robots;motion control;path planning;position control;variable structure systems;Global Positioning System guidance;Grace robot;H∞ control;Michigan;USA;Wintergreen Lake;energy-efficient spiral-down motion;gliding robotic fish;harmful algae concentration;harmful-algae-sampling experiment;long-duration underwater environment monitoring;maneuverability;path-tracking performance;sagittal-plane glide-up;sliding-mode controller;spiral motion;swimming;two-degree-of-freedom controller;underwater glider;water column autonomous sampling;yaw angle regulation;Actuators;Buoyancy;Force;Robot sensing systems;Spirals;Trajectory;Environmental monitoring;field robotics;nonlinear control system;underwater vehicles}, 
doi={10.1109/JSYST.2015.2458173}, 
ISSN={1932-8184}, 
month={Sept},}

@INPROCEEDINGS{Zhou2015Design, 
author={X. Q. Zhou and L. L. Ling and J. M. Ma and H. L. Tian and Q. S. Yan and G. F. Bai and S. Y. Liu and L. Dong}, 
booktitle={2015 6th International Conference on Power Electronics Systems and Applications (PESA)}, 
title={The design and application of an unmanned surface vehicle powered by solar and wind energy}, 
year={2015}, 
pages={1-10}, 
abstract={The development of unmanned surface vehicles (USVs) for reconnaissance or other littoral missions is attracting increasing attention. In order to increase the sustainability of USVs, a new hybrid driving system powered by solar energy and wind energy is designed for the proposed USV. The developed USV is based on a catamarans prototype boat, and is equipped with a wing sail. In addition, the superficial of the USV is covered with PV panels for providing sustainable energy generation. The batteries based storage system is used for storing extra electricity as well as providing electricity for the control system and electrical system. To achieve tasks independently and intelligently, the USV is integrated with an automatic control system. The USV is discussed in detail, and some testing results are presented to validate its feasibility.}, 
keywords={energy storage;remotely operated vehicles;solar power stations;wind power;automatic control system;hybrid driving system;solar energy;storage system;sustainable energy generation;unmanned surface vehicle;wind energy;Atmosphere;Batteries;Control systems;Electronic ballasts;Intelligent control;Unmanned aerial vehicles;USV;indirect wind power;solar energy}, 
doi={10.1109/PESA.2015.7398958}, 
month={Dec},}

@INPROCEEDINGS{Ziccarelli2016Novel, 
author={L. Ziccarelli and R. Dellor and R. Johnson and H. Schmitz and T. O'Reilly and F. Chavez}, 
booktitle={OCEANS 2016 MTS/IEEE Monterey}, 
title={A novel method of obtaining near real-time observations of phytoplankton from a mobile autonomous platform}, 
year={2016}, 
pages={1-5}, 
abstract={Emerging marine observation technologies provide new opportunities to learn about phytoplankton communities with greater spatiotemporal resolution. Autonomous vehicles enable real-time ocean data collection and communications over long durations, in varying sea states and at lower cost than crewed ships. The Jupiter Research Foundation is developing a novel device to obtain near real-time phytoplankton observations from a mobile unmanned platform. The Jupiter Autonomous Microscope (JAM) is an autonomous microscope imaging system that acquires, crops and geo-tags phytoplankton images and sends them to a shore-based server via mobile phone or satellite networks. On-shore processing includes automated object measurements and classification, as well as statistical calculations. Images and corresponding data are made accessible on a dedicated website that allows filtering, annotation and sharing. Successfully deployed on Wave Gliders for several weeks at a time, JAM provides a unique view of phytoplankton community structure. This paper describes the overall JAM design and operation.}, 
keywords={microorganisms;ocean waves;oceanographic regions;oceanographic techniques;spatiotemporal phenomena;statistical analysis;JAM design operation;Jupiter autonomous microscope;Jupiter research foundation;automated object measurement;autonomous microscope imaging system;emerging marine observation technology;geotag phytoplankton image;mobile autonomous platform;mobile phone;object classification;ocean communication;phytoplankton community;phytoplankton community structure;real-time observation;real-time ocean data collection;real-time phytoplankton observation;satellite network;sea states;shore-based server;spatiotemporal resolution;wave glider;Cameras;Image resolution;Microscopy;Oceans;Payloads;autonomous microscope;autonomous surface vehicle;harmful algal bloom;imaging system;phytoplankton}, 
doi={10.1109/OCEANS.2016.7761230}, 
month={Sept},}

@article{Zhuang2011Unmanned,
title="Motion Planning of USV Based on Marine Rules",
journal="Procedia Engineering",
volume="15",
number="",
pages="269 - 276",
year="2011",
note="CEIS 2011",
issn="1877-7058",
doi="http://dx.doi.org/10.1016/j.proeng.2011.08.053",
url="http://www.sciencedirect.com/science/article/pii/S1877705811015542",
author="Jia-yuan Zhuang and Yu-min Su and Yu-lei Liao and Han-bing Sun",
keywords="Unmanned Surface Vehicle (USV)",
keywords="motion planning",
keywords="marine rules",
abstract="In order to achieve a high level of autonomy in a highly dynamic and unpredictable world, obstacle avoidance is required to ensure the safety of other vessels, people, and property. Discussed here is the integration of the Coast Guard International Regulations for Avoiding Collision as Sea (COLREGS), or the Marine Rules of the Road, with an autonomous motion planning method based on the relative coordinate. The simulation results provide obstacle avoidance capability, that complies with COLREGS, to an Unmanned Surface Vehicle (USV).",
}

@INPROCEEDINGS{Ziegwied2016Using,
author={A. T. Ziegwied and V. Dobbin and S. Dyer and C. Pierpoint and N. Sidorovskaia},
booktitle={OCEANS 2016 MTS/IEEE Monterey},
title={Using Autonomous Surface Vehicles for Passive Acoustic Monitoring (PAM)},
year={2016},
volume={},
number={},
pages={1-5},
abstract={Six years have passed since the Deepwater Horizon oil spill. Work is still ongoing to assess and repair the economic and property damage caused by the accident, which was considered to be the largest accidental marine oil spill in the history of the petroleum industry. An estimated 4.9 million barrels of crude oil leaked into the sea over an 87-day period after the initial explosion.},
keywords={acoustic signal processing;marine vehicles;mobile robots;monitoring;PAM;autonomous surface vehicles;crude oil leakage;marine oil spill;passive acoustic monitoring;petroleum industry;Acoustics;Arrays;Monitoring;Oils;Sea surface;Vehicles;Whales;ASV;AUV;Autonomous Surface Vehicle;Gulf of Mexico;PAM;Passive Acoustic Monitoring;USV;unmanned;whale},
doi={10.1109/OCEANS.2016.7761380},
ISSN={},
month={Sept},}

@Article{Zolich2018Survey,
author="Zolich, Artur and Palma, David and Kansanen, Kimmo and Fj{\o}rtoft, Kay and Sousa, Jo{\~a}o and Johansson, Karl H and Jiang, Yuming and Dong, Hefeng and Johansen, Tor A.", 
title="Survey on Communication and Networks for Autonomous Marine Systems",
journal="Journal of Intelligent {\&} Robotic Systems",
year="2018",
month="Apr",
day="21",
abstract="The rapid development of autonomous systems and Information and Communications Technologies (ICT) create new opportunities for maritime activities. Existing autonomous systems are becoming more powerful and utilise the capabilities of several types of devices such as Autonomous Underwater Vehicles (AUVs), Unmanned Surface Vehicles (USVs) -- sometimes referred as Autonomous Surface Vehicles (ASVs) --, Unmanned Aerial Vehicles (UAVs), moored and drifting systems and, recently emerging, autonomous vessels. Their importance in providing new services in maritime environments is undeniable and the opportunity for coordinated and interconnected operations is clear. However, continuous wide integration of various technologies in maritime environments still faces many challenges. Operations may take place in remote locations, so that dependence on third-party infrastructures such as satellite communication or terrestrial communication systems must be expected. The reliability, performance, availability, and cost of such systems are important issues that need to be tackled. This work reviews the major advancements on state-of-the-art autonomous maritime vehicles and systems, which are used in several different scenarios, from scientific research to transportation. Moreover, the paper highlights how available technologies can be composed in order to efficiently and effectively operate in maritime environments. Highlights of the trade-off between autonomy and communication requirements are provided and followed by an overview of promising communication and networking technologies that could encourage the integration of autonomous systems in maritime scenarios.",
issn="1573-0409",
doi="10.1007/s10846-018-0833-5",
url="https://doi.org/10.1007/s10846-018-0833-5"
}

@article{Samuelides2009Survey,
  author    = {Samuelides, MS and Ventikos, NP and Gemelos, IC},
  title     = {Survey on Grounding Incidents: Statistical Analysis and Risk Assessment},
  journal   = {Ships and Offshore Structures},
  volume    = {4},
  number    = {1},
  _month     = {},
  pages     = {55--68},
  doi       = {10.1080/17445300802371147},
  url       = {https://doi.org/10.1080/17445300802371147},
  year      = {2009},
  publisher = {Taylor \& Francis},
  abstract  = {The most important concern in the maritime field is the safety of ships at sea. The improvement of marine safety is always a target for all involved stakeholders. The concern augments in the case of ships carrying cargo harmful to the environment and the passenger ships carrying thousands of lives. Accidental limit state analysis provides a basic methodology for the assessment of the grounding behaviour of a ship. The application of the method requires the definition of grounding scenarios and the associated probability of occurrence. The article presents the determination of probability of occurrence of grounding, which is based on a database of accidents involving Greek ships from 1992 to 2005. Parameters influencing the occurrence of groundings are identified and investigated using statistical significant tests.}
}

@article{Paine1996Trouble,
  author = {Paine, R. T. and Ruesink, Jennifer L. and Sun, Adrian and Soulanille, Elaine L. and Wonham, Marjorie J. and Harley, Christopher D. G. and Brumbaugh, Daniel R. and Secord, David L.},
  title = {Trouble on Oiled Waters: Lessons from the Exxon Valdez Oil Spill},
  journal = {Annual Review of Ecology and Systematics},
  volume = {27},
  number = {1},
  pages = {197-235},
  year = {1996},
  doi = {10.1146/annurev.ecolsys.27.1.197},
  url = {https://doi.org/10.1146/annurev.ecolsys.27.1.197},
  abstract = {The Exxon Valdez oil spill was the largest in US maritime history. We review post-spill research and set it in its legal context. The Exxon Corporation, obviously responsible for the spill, focused on restoration, whereas the Trustees, a coalition of state and federal entities, focused on damage and its assessment. Despite billions of dollars expended, little new understanding was gained about the recovery dynamics of a high latitude marine ecosystem subject to an anthropogenic pulse perturbation. We discuss a variety of case studies that highlight the limitations to and shortcomings of the research effort. Given that more spills are inevitable, we recommend that future studies address spatial patterns in the intertidal, and focus on the abundances of long-lived species and on organisms that preserve a chronological record of growth. Oil spills, while tragic, represent opportunities to gain insight into the dynamics of marine ecosystems and should not be wasted. }
}

@article{Sammarco2013Distribution,
  author = "Paul W. Sammarco and Steve R. Kolian and Richard A.F. Warby and Jennifer L. Bouldin and Wilma A. Subra and Scott A. Porter",
  title = "Distribution and concentrations of petroleum hydrocarbons associated with the BP/Deepwater Horizon Oil Spill, Gulf of Mexico",
  journal = "Marine Pollution Bulletin",
  volume = "73",
  number = "1",
  pages = "129 - 143",
  year = "2013",
  issn = "0025-326X",
  doi = "https://doi.org/10.1016/j.marpolbul.2013.05.029",
  url = "http://www.sciencedirect.com/science/article/pii/S0025326X13002762",
  abstract = "We examined the geographic extent of petroleum hydrocarbon contamination in sediment, seawater, biota, and seafood during/after the BP/Deepwater Horizon Oil Spill (April 20–July 15, 2010; 28.736667°N, −88.386944°W). TPH, PAHs, and 12 compound classes were examined, particularly C1-benzo(a)anthracenes/chrysenes, C-2-/C-4-phenanthrenes/anthracenes, and C3-naphthalenes. Sediment TPH, PAHs, and all classes peaked near Pensacola, Florida, and Galveston, Texas. Seawater TPH peaked off Pensacola; all of the above classes peaked off the Mississippi River, Louisiana and Galveston. Biota TPH and PAHs peaked near the Mississippi River; C-3 napthalenes peaked near the spill site. Seafood TPH peaked near the spill site, with PAHs and all classes peaking near Pensacola. We recommend that oil concentrations continued to be monitored in these media well after the spill has ceased to assist in defining re-opening dates for fisheries; closures should be maintained until hydrocarbon levels are deemed within appropriate limits."
}

@inproceedings{Mukhopadhyay2012Controller,
  title={Controller Performance of Marine Robots in Reminiscent Oil Surveys},
  author={Mukhopadhyay, Shayok and Wang, Chuanfeng and Bradshaw, Steven and Bazie, Valerie and Maxon, Sean and Hicks, Lisa and Patterson, Mark and Zhang, Fumin},
  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  doi={10.1109/IROS.2012.6385947}, 
  ISSN={2153-0866}, 
  month={Oct},
  pages={1766--1771},
  year={2012},
  organization={IEEE},
  abstract={A class of path following and formation controllers are implemented on marine robots performing autonomous surveys in regions polluted by crude oil during the Deepwater Horizon oil spill. The controllers enable the robots to follow lines and curves, and maintain formation collectively while measuring reminiscent crude oil along their paths. The controllers are mathematically sound with proven convergence and robustness. However, their performance in the surveying missions is affected by natural disturbances caused by wind and water currents, and constraints such as sensor inaccuracy, localization errors, and network delays. This paper evaluates the performance of our controllers based on data collected during a survey performed at Grand Isle, Louisiana. These results will provide guidance for mission designs and inspire the future developments of our marine robots used to perform autonomous environmental surveys.}
}

@inproceedings{Vasilijevic2015Heterogeneous, 
  author={A. Vasilijevic and P. Calado and F. Lopez-Castejon and D. Hayes and N. Stilinovic and D. Nad and F. Mandic and P. Dias and J. Gomes and J. C. Molina and A. Guerrero and J. Gilabert and N. Miskovic and Z. Vukic and J. Sousa and G. Georgiou},
  booktitle={OCEANS 2015 - Genova}, 
  title={Heterogeneous robotic system for underwater oil spill survey}, 
  year={2015}, 
  volume={}, 
  number={}, 
  pages={1-7},  
  month={May},
  abstract={The tragic Deepwater Horizon accident in the Gulf of Mexico in 2010 as well as the increase in deepwater offshore activity have increased public interest in counter-measures available for sub-surface releases of hydrocarbons. To arrive at proper contingency planning, response managers urge for a system for instant detection and characterization of accidental releases. Along these lines, this paper describes the application of a heterogeneous robotic system of unmanned vehicles: autonomous underwater vehicle (AUV), unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) extended with the oil spill numerical modeling, visualisation and decision support capabilities. A first set of field experiments simulating oil spill scenarios with Rhodamine WT was held in Croatia during the early autumn 2014. The objectives of this experiment were to test: effectiveness of the system for underwater detection of hydrocarbons, including multi-vehicle collaborative navigation and communication as well as visualisation of the system components.}
}

@article{Jha2008Advances,
  author = {Nand Jha, Maya and Jason, Levy and Gao, Yang},
  year = {2008},
  month = {01},
  pages = {236--255},
  title = {Advances in Remote Sensing for Oil Spill Disaster Management: State-of-the-Art Sensors Technology for Oil Spill Surveillance},
  volume = {8},
  journal = {Sensors},
  doi = {10.3390/s8010236},
  abstract={Reducing the risk of oil spill disasters is essential for protecting the environmentand reducing economic losses. Oil spill surveillance constitutes an important component ofoil spill disaster management. Advances in remote sensing technologies can help to identifyparties potentially responsible for pollution and to identify minor spills before they causewidespread damage. Due to the large number of sensors currently available for oil spillsurveillance, there is a need for a comprehensive overview and comparison of existingsensors. Specifically, this paper examines the characteristics and applications of differentsensors. A better understanding of the strengths and weaknesses of oil spill surveillancesensors will improve the operational use of these sensors for oil spill response andcontingency planning. Laser fluorosensors were found to be the best available sensor for oilspill detection since they not only detect and classify oil on all surfaces but also operate ineither the day or night. For example, the Scanning Laser Environmental AirborneFluorosensor (SLEAF) sensor was identified to be a valuable tool for oil spill surveillance.However, no single sensor was able to provide all information required for oil spillcontingency planning. Hence, combinations of sensors are currently used for oil spillsurveillance. Specifically, satellite sensors are used for preliminary oil spill assessmentwhile airborne sensors are used for detailed oil spill analysis. While satellite remote sensingis not suitable for tactical oil spill planning it can provide a synoptic coverage of theaffected area.}
}

@article{Fingas2014Review,
  author = "Merv Fingas and Carl Brown",
  title = "Review of oil spill remote sensing",
  journal = "Marine Pollution Bulletin",
  volume = "83",
  number = "1",
  pages = "9 - 23",
  year = "2014",
  issn = "0025-326X",
  doi = "https://doi.org/10.1016/j.marpolbul.2014.03.059",
  url = "http://www.sciencedirect.com/science/article/pii/S0025326X14002021",
  abstract = "Remote-sensing for oil spills is reviewed. The use of visible techniques is ubiquitous, however it gives only the same results as visual monitoring. Oil has no particular spectral features that would allow for identification among the many possible background interferences. Cameras are only useful to provide documentation. In daytime oil absorbs light and remits this as thermal energy at temperatures 3–8K above ambient, this is detectable by infrared (IR) cameras. Laser fluorosensors are useful instruments because of their unique capability to identify oil on backgrounds that include water, soil, weeds, ice and snow. They are the only sensor that can positively discriminate oil on most backgrounds. Radar detects oil on water by the fact that oil will dampen water-surface capillary waves under low to moderate wave/wind conditions. Radar offers the only potential for large area searches, day/night and foul weather remote sensing."
}

@article{Bayat2017Environmental,
  author = "Behzad Bayat and Naveena Crasta and Alessandro Crespi and António M. Pascoal and Auke Ijspeert",
  title = "Environmental monitoring using autonomous vehicles: a survey of recent searching techniques",
  journal = "Current Opinion in Biotechnology",
  volume = "45",
  pages = "76 - 84",
  year = "2017",
  issn = "0958-1669",
  doi = "https://doi.org/10.1016/j.copbio.2017.01.009",
  url = "http://www.sciencedirect.com/science/article/pii/S0958166916302312",
  abstract = "Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles."
}

@article{Ventikos2004High,
  author = "Nikolaos P Ventikos and Emmanouil Vergetis and Harilaos N Psaraftis and George Triantafyllou",
  title = "A high-level synthesis of oil spill response equipment and countermeasures",
  journal = "Journal of Hazardous Materials",
  volume = "107",
  number = "1",
  pages = "51 - 58",
  year = "2004",
  issn = "0304-3894",
  doi = "https://doi.org/10.1016/j.jhazmat.2003.11.009",
  url = "http://www.sciencedirect.com/science/article/pii/S0304389403004126",
  abstract = "This paper presents an operational synthesis of major oil spill response methods (mechanical, chemical, etc.) and the corresponding oil response equipment for sea context (booms, skimmers, etc.). We focus on important features of oil spill response, in order to formulate a decision-based database, capable of supporting the development of a complete oil spill response operation. Moreover, we classify these findings and introduce simple formatting and standards to supply predictive tools for oil spill models. The actual goal of this paper is to come up with a decision-driven process, which can provide for a realistic choice of oil spill response equipment in the design of the primary oil response phase. This is intended to lead to a prompt, logical, and well-prepared oil spill response operation satisfying time and cost criteria and protecting the marine environment."
}

@article{Zhong2011Oil,
  author = "Zhixia Zhong and Fengqi You",
  title = "Oil spill response planning with consideration of physicochemical evolution of the oil slick: A multiobjective optimization approach",
  journal = "Computers \& Chemical Engineering",
  volume = "35",
  number = "8",
  pages = "1614 - 1630",
  year = "2011",
  issn = "0098-1354",
  doi = "https://doi.org/10.1016/j.compchemeng.2011.01.009",
  url = "http://www.sciencedirect.com/science/article/pii/S0098135411000111",
  abstract = "This paper addresses the optimal planning of oil spill response operations under economic and responsive criteria, with consideration of oil weathering process. The economic criterion is measured by total cost, while the measure of responsiveness is the time span of the entire response operations. A bi-criterion, multiperiod mixed-integer linear programming (MILP) model is developed that simultaneously predicts the optimal time trajectories of oil volume and slick area, transportation profile, response resource utilization levels, cleanup schedule, and coastal protection plan. The MILP model integrates with the prediction of an oil weathering model that accounts for oil physicochemical properties, spilled amount, hydrodynamics, and weather conditions. The multi-objective optimization model is solved with the epsilon-constraint method and produces a Pareto optimal curve that reveals how the optimal total cost and response operations change under different specifications of responsiveness. We present two illustrative examples for oil spill incidents in the Gulf of Mexico and New England."
}

@article{Klemas2010Tracking,
  author = {Klemas, Victor},
  title = {Tracking Oil Slicks and Predicting their Trajectories Using Remote Sensors and Models: Case Studies of the Sea Princess and Deepwater Horizon Oil Spills},
  journal = {Journal of Coastal Research},
  volume = {26},
  number = {5},
  pages = {789--797},
  month = {September},
  year = {2010},
  doi = {10.2112/10A-00012.1},
  url = {https://doi.org/10.2112/10A-00012.1},
  abstract = {Oil spills can harm marine life in the oceans, estuaries, and wetlands. To limit the damage by a spill and facilitate cleanup efforts, emergency managers need information on spill location, size and extent, direction and speed of oil movement, and wind, current, and wave information for predicting oil drift and dispersion. The main operational data requirements are fast turn-around time and frequent imaging to monitor the dynamics of the spill. Remote sensors on satellites and aircraft meet most of these requirements by tracking the spilled oil at various resolutions, over wide areas, and at frequent intervals. They also provide key inputs to drift prediction models and facilitate targeting of skimming and booming efforts. Satellite data are frequently supplemented by information provided by aircraft, ships, and remotely-controlled underwater robots. The Sea Princess tanker grounding off the coast of Wales and the explosion on the Deepwater Horizon rig in the Gulf of Mexico provide good examples for studying the effectiveness of remote sensors during oil-spill emergencies.}
}

@book{Burger1997Oil,
  author = {Burger, Joanna},
  title = {Oil Spills},
  publisher = {Rutgers University Press},
  edition = {1},
  year = {1997},
  pages = {280},
  isbn = {0813523389}
}

@article{Kakalis2008Robotic,
  author = "Nikolaos M.P. Kakalis and Yiannis Ventikos",
  title = "Robotic swarm concept for efficient oil spill confrontation",
  journal = "Journal of Hazardous Materials",
  volume = "154",
  number = "1",
  pages = "880 - 887",
  year = "2008",
  issn = "0304-3894",
  doi = "https://doi.org/10.1016/j.jhazmat.2007.10.112",
  url = "http://www.sciencedirect.com/science/article/pii/S0304389407015907",
  abstract = "This paper examines the behaviour of a distributed system/robotic swarm concept for the effective confrontation of oil spills. The system described consists of a number of identical robotic units of high-power autonomy that recover oil mechanically and are able to communicate with each other. A mathematical model that accounts for a multitude of oil weathering processes and for the concerted action of the autonomous units is implemented for this investigation. Computational assessment of the robotic swarm in weathering oil spills indicates the potential effectiveness of the method."
}

@inproceedings{Kato2012Autonomous, 
  author={Kato, Naomi and Senga, Hidetaka and Suzuki, Hiroyoshi and Okano, Yasunori and Ban, Takahiko and Takagi, Yohei and Yoshie, Muneo and Tanaka, Toshinari and Sakagami, Norimitsu}, 
  title={Autonomous Spilled Oil and Gas Tracking Buoy System and Application to Marine Disaster Prevention System: Part 1}, 
  booktitle={SPE Annual Technical Conference and Exhibition}, 
  location = {San Antonio, Texas, USA},
  year={2012}, 
  pages={1--3}, 
  doi={https://doi.org/10.2118/159254-MS}, 
  ISSN={978-1-61399-213-5}, 
  month={January},
  publisher = {Society of Petroleum Engineers},
  abstract={This paper describes the ongoing project on autonomous spilled oil and gas tracking buoy system and application to marine disaster prevention system for 5 years since FY2011. The objectives of this project are as (1)autonomous tracking and monitoring of spilled plumes of oil and gas from subsea production facilities by an underwater buoy robot, (2)autonomous tracking of spilled oil on the sea surface and transmission of useful data to a land station through satellites in real time by multiple floating buoy robots, (3)improvement of the accuracy of simulations for predicting diffusion and drifting of spilled oil and gas by incorporating the real-time data from these robots.}, 
}

@INPROCEEDINGS{Senga2012Verification, 
  author={H. Senga and N. Kato and L. Yu and M. Yoshie and T. Tanaka}, 
  booktitle={2012 Oceans - Yeosu}, 
  title={Verification experiments of sail control effects on tracking oil spill}, 
  year={2012}, 
  volume={}, 
  number={}, 
  pages={1-7}, 
  doi={10.1109/OCEANS-Yeosu.2012.6263416}, 
  ISSN={}, 
  month={May},
  abstract = {It is important to forecast the location of oil spill to realize effective and adequate oil spill response operation when huge oil spill occurs. In order to enhance the accuracy of oil drifting simulation, it is needed to obtain the meteorological and oceanographic data around the oil slick. SOTAB-II is developed for autonomous tracking of oil slick drifting on sea surface. In addition, it transmits its location, the meteorological and oceanographic data around it to the land base in real time. In general, the drifting velocity vector of oil spill contains wind velocity vector and water current velocity vector. SOTAB-II is equipped with a sail whose size and direction are controllable. This paper reports the development of a new SOTAB-II and the results of field experiments using it.}
}

@Article{Senga2014Field,
  author="Senga, Hidetaka and Kato, Naomi and Suzuki, Hiroyoshi and Akamatsu, Tatsuya and Yu, Lubin and Yoshie, Muneo and Tanaka, Toshinari",
  title="Field experiments and new design of a spilled oil tracking autonomous buoy",
  journal="Journal of Marine Science and Technology",
  year="2014",
  month="Mar",
  day="01",
  volume="19",
  number="1",
  pages="90--102",
  issn="1437-8213",
  doi="10.1007/s00773-013-0233-2",
  url="https://doi.org/10.1007/s00773-013-0233-2",
  abstract="It is important to forecast the location of oil spills to realize effective and adequate oil spill response operations when huge oil spilsl occur. In order to enhance the accuracy of oil drifting simulations, one needs to obtain the meteorological and oceanographic data around the oil slick. In general, the drifting velocity vector of an oil spill contains a wind velocity vector and a water current velocity vector. SOTAB-II was developed for autonomous tracking of oil slicks drifting on the sea surface. It is equipped with a sail whose size and direction are controllable to drift along with the oil slick autonomously. In addition, SOTAB-II transmits its location and necessary measured data around it to the land base in real-time. The results of field experiments using SOTAB-II with a cylindrical hull brought us the effectiveness of the sail and its control. However, the drifting speed of SOTAB-II was lower than a theoretical speed for the oil slick. In order to overcome this problem, SOTAB-II was redesigned. A yacht shape was adopted to reduce the hydrodynamic drag in the water in the advancing direction. Transverse stability, scales of brake board and sail, maneuverability, and performance of tracking spilled oil on the sea surface were considered in the process of the design.",
}

@INPROCEEDINGS{Giron-Sierra2014Towing, 
author={J. M. Giron-Sierra and A. T. Gheorghita and G. Angulo and J. F. Jimenez}, 
booktitle={2014 13th International Conference on Control Automation Robotics Vision (ICARCV)}, 
title={Towing a boom with two USVs for oil spill recovery: Scaled experimental development}, 
year={2014}, 
volume={}, 
number={}, 
pages={1729-1734}, 
keywords={marine pollution;marine vehicles;remotely operated vehicles;unmanned surface vehicles;ground station;parallel formation;oil spill displacement operations;oil spill confinement;unmanned surface vehicles;oil spill recovery;USV;boom towing;Marine vehicles;Pulse width modulation;Robots;Global Positioning System;Engines;Geometry;Vehicles;robot teams;marine vehicles;unmanned surface vehicles;environmental protection;oil spill recovery}, 
doi={10.1109/ICARCV.2014.7064577}, 
ISSN={}, 
month={Dec},}

@INPROCEEDINGS{Nedwed2013, 
  author={Nedwed, Tim}, 
  title={Recent Advances in Oil Spill Response Technologies}, 
  booktitle={International Petroleum Technology Conference}, 
  series={IPTC 2013},
  month={March},
  year={2013}, 
  doi={doi:10.2523/IPTC-16845-MS},
  url={https://doi.org/10.2523/IPTC-16845-MS},
  abstract={This paper discusses recent advances ExxonMobil has made in oil spill response technologies for large spills in dynamic ice conditions; however, much of the work has application in all environments. We have developed a new dispersant that is effective at much lower dosages than currently available products. For ice conditions, we have developed a concept to utilize the propellar wash of response vessels to supply the necessary energy to more effectively disperse dispersant-treated oil. In situ-burning has undergone extensive evaluation as an oil spill response option including a multi-year joint-industry research project evaluating a concept to enhance in situ burning in ice using chemical herders. Recent research indicates that chemical herders can also enhance in situ burning in open water. In addition, we have initiated research on a novel concept to use oleophilic skimmers in conjunction with mini floating incinerators to allow immediate in situ burning. 
We are also studying tools to enhance our ability to remotely detect and track oil slicks on the water surface as well as underneath ice. For oil under ice, we have been studying the use of a helicopter-mounted nuclear magnetic resonance sensor to detect, track, and map oil location and relative density. We are also studying methods to detect and determine the thickness of oil slicks using remotely controlled helicopters.}, 
}

@INPROCEEDINGS{Arrichiello2010Cooperative, 
author={F. Arrichiello and H. Heidarsson and S. Chiaverini and G. S. Sukhatme}, 
booktitle={2010 IEEE International Conference on Robotics and Automation}, 
title={Cooperative caging using autonomous aquatic surface vehicles}, 
year={2010}, 
volume={}, 
number={}, 
pages={4763-4769}, 
doi={10.1109/ROBOT.2010.5509147}, 
ISSN={1050-4729}, 
month={May},
abstract={We present a study on the use of cooperative robots to execute a caging mission on the water's surface. In particular, we consider the problem of using two robotic boats (under-actuated autonomous surface vessels) connected with a floating rope, to `capture' a floating object from a known location on the water's surface and 'shepherd' it to a designated position. This paper focuses on the cooperative control strategy of the two vessels. Each vessel's behavior is governed by a supervisor software module that handles the communication with the other vessel and controls all elementary tasks that compose the overall mission. The elementary tasks, specifically developed for under-actuated vessels, are arranged by priority, and merged using a behavior-based approach, namely the Null-Space based Behavioral control. The proposed technique is validated by field experiments with two autonomous robotic boats on the surface of a lake.}
}

@Article{Arrichiello2012Cooperative,
author="Arrichiello, Filippo
and Heidarsson, Hordur K.
and Chiaverini, Stefano
and Sukhatme, Gaurav S.",
title="Cooperative caging and transport using autonomous aquatic surface vehicles",
journal="Intelligent Service Robotics",
year="2012",
month="Jan",
day="01",
volume="5",
number="1",
pages="73--87",
abstract="We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location, and transport it to a designated position. We focus on the coordination and control strategy to meet these requirements, and on its implementation on two under-actuated vehicles. We describe a multi-layered control architecture which achieves the goal, followed by simulation studies and field experiments with the two vehicles caging and transporting a floating target on the surface of a lake.",
issn="1861-2784",
doi="10.1007/s11370-011-0104-9",
url="https://doi.org/10.1007/s11370-011-0104-9"
}

@INPROCEEDINGS{Bhattacharya2011Cooperative, 
author={S. Bhattacharya and H. Heidarsson and G. S. Sukhatme and V. Kumar}, 
booktitle={2011 IEEE International Conference on Robotics and Automation}, 
title={Cooperative control of autonomous surface vehicles for oil skimming and cleanup}, 
year={2011}, 
volume={}, 
number={}, 
pages={2374-2379}, 
doi={10.1109/ICRA.2011.5980421}, 
ISSN={1050-4729}, 
month={May},
abstract={Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we address the cooperative control of two autonomous surface vehicles for oil skimming and cleanings. We model the skimmer as a flexible, floating rope of constant length as well as discrete segmented model. We derive the equations governing the rope dynamics from first principles and demonstrate their application through simulations. We have performed field experiments with two autonomous surface vehicles that substantiate the proposed model and provides estimates of constants underlying the model. We propose a method for controlling the shape of the rope, and derive the conditions that maximize skimming efficiency.}
}

@inproceedings{Boulougouris2007Efficient,
  title={Efficient Oil Spill Confrontation by Innovative EUMOP Units},
  author={Boulougouris, EK and Papanikolaou, AD and Le Corre, Y and Ghozlan, F and Turan, O and Kakalis, NMP and Ventikos, Y and Fritsch, D and Campos, V and Ventikos, NP},
  booktitle={Proceedings of the International Symposium on Maritime Safety, Security and Environmental Protection},
  location={Athens, Greece},
  year={2007}
}

@article{Fingas2011Buoys,
  author = {Fingas, Merv},
  title = {Buoys and Devices for Oil Spill Tracking},
  journal = {International Oil Spill Conference Proceedings},
  volume = {2011},
  number = {1},
  pages = {abs9},
  year = {2011},
  doi = {10.7901/2169-3358-2011-1-9},
  url = {https://doi.org/10.7901/2169-3358-2011-1-9},
  abstract={This poster is a review of oil spill tracking devices from 1970 until the present. Since the early 1970's devices for tracking oil spills have been made and tested. Very early in the oil spill technology, cardboard coupons, plywood pieces and similar devices were tried. Later more sophisticated devices were developed and commercialized. Some devices were equipped with radio transmitters and later satellite transmitters. A literature review shows that more than 25 devices were proposed and about 20 tested to some degree. Testing programs on many oil spill tracking devices were carried out. Testing using actual slicks was carried out in the 1970's and 1980's. These tests showed that two of the slick tracking devices followed oil very well. Some buoys tracked the oil slick only with large deviations and most devices were not found to be useful for tracking the oil. Some buoys or devices did not even follow the direction of the test slicks. Later testing showed that some surrogates such as cedar oil in cedar wood chips were useful and thus testing could be carried out without actual oil. The test results are summarized and results given. Devices are listed along with the deviation from the true slicks as found in the various tests.},
}

@INPROCEEDINGS{Pereda2011Towards, 
author={F. J. Pereda and H. G. de Marina and J. M. Giron-Sierra and J. Jimenez}, 
booktitle={OCEANS 2011 IEEE - Spain}, 
title={Towards automatic oil spill confinement with Autonomous Marine Surface Vehicles}, 
year={2011}, 
volume={}, 
number={}, 
pages={1-6}, 
doi={10.1109/Oceans-Spain.2011.6003473}, 
ISSN={}, 
month={June},
abstract={The paper includes a proposal for oil spill confinement using Autonomous Marine Surface Vehicles (AMSVs). The proposal includes a mathematical model of the system and a navigation system based on the Null Space Based behavioral control. The study is made through realistic simulations that closely mimic an experimental platform. The results show the validity of the proposal for automatic spill confinement using two underactuated vessels.},
}

@article{Hurford1990Oil,
title = "The use of a satellite-tracked buoy to monitor the movement of an oil slick at sea",
journal = "Oil and Chemical Pollution",
volume = "6",
number = "2",
pages = "101 - 112",
year = "1990",
issn = "0269-8579",
doi = "https://doi.org/10.1016/S0269-8579(05)80012-7",
url = "http://www.sciencedirect.com/science/article/pii/S0269857905800127",
author = "N. Hurford",
abstract = "The use of a surface-drifting buoy equipped with an Argos transmitter to monitor the movement of an oil slick has been evaluated. It is concluded that such a buoy could act as a useful aid to aerial surveillance during oil spill incidents."
}

@article{Leifer2012State,
title = "State of the art satellite and airborne marine oil spill remote sensing: Application to the BP Deepwater Horizon oil spill",
journal = "Remote Sensing of Environment",
volume = "124",
pages = "185 - 209",
year = "2012",
issn = "0034-4257",
doi = "https://doi.org/10.1016/j.rse.2012.03.024",
url = "http://www.sciencedirect.com/science/article/pii/S0034425712001563",
author = "Ira Leifer and William J. Lehr and Debra Simecek-Beatty and Eliza Bradley and Roger Clark and Philip Dennison and Yongxiang Hu and Scott Matheson and Cathleen E. Jones and Benjamin Holt and Molly Reif and Dar A. Roberts and Jan Svejkovsky and Gregg Swayze and Jennifer Wozencraft",
keywords = "Oil spill, Deepwater Horizon, Remote sensing, Lidar, Near infrared, Thermal infrared, Satellite, Airborne remote sensing, Synthetic aperture radar, MODIS, Hyperspectral, Multispectral, Expert system, False positives, Technology readiness, Operational readiness, Visible spectrum, Oil water emulsions, Spill response, AVIRIS, Synthetic aperture radar, UAVSAR, Fire, CALIPSO, Oil slick thickness, Laser fluorescence",
abstract = "The vast and persistent Deepwater Horizon (DWH) spill challenged response capabilities, which required accurate, quantitative oil assessment at synoptic and operational scales. Although experienced observers are a spill response's mainstay, few trained observers and confounding factors including weather, oil emulsification, and scene illumination geometry present challenges. DWH spill and impact monitoring was aided by extensive airborne and spaceborne passive and active remote sensing. Oil slick thickness and oil-to-water emulsion ratios are key spill response parameters for containment/cleanup and were derived quantitatively for thick (>0.1mm) slicks from AVIRIS (Airborne Visible/Infrared Imaging Spectrometer) data using a spectral library approach based on the shape and depth of near infrared spectral absorption features. MODIS (Moderate Resolution Imaging Spectroradiometer) satellite, visible-spectrum broadband data of surface-slick modulation of sunglint reflection allowed extrapolation to the total slick. A multispectral expert system used a neural network approach to provide Rapid Response thickness class maps. Airborne and satellite synthetic aperture radar (SAR) provides synoptic data under all-sky conditions; however, SAR generally cannot discriminate thick (>100μm) oil slicks from thin sheens (to 0.1μm). The UAVSAR's (Uninhabited Aerial Vehicle SAR) significantly greater signal-to-noise ratio and finer spatial resolution allowed successful pattern discrimination related to a combination of oil slick thickness, fractional surface coverage, and emulsification. In situ burning and smoke plumes were studied with AVIRIS and corroborated spaceborne CALIPSO (Cloud Aerosol Lidar and Infrared Pathfinder Satellite Observation) observations of combustion aerosols. CALIPSO and bathymetry lidar data documented shallow subsurface oil, although ancillary data were required for confirmation. Airborne hyperspectral, thermal infrared data have nighttime and overcast collection advantages and were collected as well as MODIS thermal data. However, interpretation challenges and a lack of Rapid Response Products prevented significant use. Rapid Response Products were key to response utilization—data needs are time critical; thus, a high technological readiness level is critical to operational use of remote sensing products. DWH's experience demonstrated that development and operationalization of new spill response remote sensing tools must precede the next major oil spill."
}

@article{VanDolah2000Marine,
  author = {F M Van Dolah },
  title = {Marine algal toxins: origins, health effects, and their increased occurrence.},
  journal = {Environmental Health Perspectives},
  volume = {108},
  number = {suppl 1},
  pages = {133-141},
  year = {2000},
  doi = {10.1289/ehp.00108s1133},
  URL = {https://ehp.niehs.nih.gov/doi/abs/10.1289/ehp.00108s1133},
  abstract = { Certain marine algae produce potent toxins that impact human health through the consumption of contaminated shellfish and finfish and through water or aerosol exposure. Over the past three decades, the frequency and global distribution of toxic algal incidents appear to have increased, and human intoxications from novel algal sources have occurred. This increase is of particular concern, since it parallels recent evidence of large-scale ecologic disturbances that coincide with trends in global warming. The extent to which human activities have contributed to their increase therefore comes into question. This review summarizes the origins and health effects of marine algal toxins, as well as changes in their current global distribution, and examines possible causes for the recent increase in their occurrence. }
}

@book{Sivonen1999Toxic,
  author = {Sivonen, K. and Jones, G.},
  title = {Toxic Cyanobacteria in Water: A guide to their public health consequences, monitoring and management},
  year = {1999},
  pages = {41--111}, 
  organization = {World Health Organization}, 
  url = {http://www.who.int/iris/handle/10665/42827},
  publisher = {E \& FN Spon},
  address = {London}
}

@INPROCEEDINGS{Low2009Robot,
author = {Kian Hsiang Low and Gregg Podnar and Stephen B. Stancliff and John M. Dolan and Alberto Elfes},
title = {Robot Boats as a Mobile Aquatic Sensor Network},
booktitle = {2009 International Conference on Information Processing in Sensor Networks (IPSN) Workshop on Sensor Networks for Earth and Space Science Applications: ESSA 2009},
year = {2009},
month = {April},
 abstract = {This paper describes the Multilevel Autonomy Robot Telesupervision Architecture (MARTA), an architecture for supervisory control of a heterogeneous eet of net- worked unmanned autonomous aquatic surface vessels carrying a payload of environmental science sensors. This architecture allows a land-based human scientist to eectively supervise data gathering by multiple robotic assets that implement a web of widely dispersed mobile sensors for in situ study of physical, chemical or bio- logical processes in water or in the water/atmosphere interface.}
}

@article{Hitz2012Design,
  title={Design and application of a surface vessel for autonomous inland water monitoring},
  author={Hitz, Gregory and Pomerleau, Fran{\c{c}}ois and Garneau, Marie-Eve and Pradalier, C{\'e}dric and Posch, Thomas and Pernthaler, Jakob and Siegwart, Roland},
  journal={IEEE Robotics \& Automation Magazine},
  volume={19},
  year={2012},
  publisher={Eidgen{\"o}ssische Technische Hochschule Z{\"u}rich, Autonomous Systems Lab}
}

@inproceedings{Dunbabin2009Autonomous,
  title={An autonomous surface vehicle for water quality monitoring},
  author={Dunbabin, Matthew and Grinham, Alistair and Udy, James},
  booktitle={Australasian Conference on Robotics and Automation (ACRA)},
  pages={2--4},
  year={2009}
}

@INPROCEEDINGS{Dunbabin2010Framework, 
author={M. Dunbabin and P. Corke}, 
booktitle={OCEANS'10 IEEE SYDNEY}, 
title={A framework for marine sensor network amp;amp; autonomous vehicle interaction}, 
year={2010}, 
volume={}, 
number={}, 
pages={1-7}, 
keywords={remotely operated vehicles;underwater acoustic communication;underwater vehicles;wireless sensor networks;marine sensor network;autonomous vehicle interaction;underwater vehicles;autonomous surface integration;static sensors;robots;service providers;service forwarding;mobile node;local communications link;Robot sensing systems;Temperature measurement;Robot kinematics;Temperature sensors;Servers;Logic gates}, 
doi={10.1109/OCEANSSYD.2010.5603677}, 
ISSN={}, 
month={May},}

@article{Dunbabin2009Continuous,
           title = {Continuous monitoring of reservoir water quality: The Wivenhoe Project},
       publisher = {Australian Water Association},
           month = {September},
         journal = {Water},
          volume = {36},
           pages = {74--77},
          author = {Matthew Dunbabin and James Udy and Alistair Grinham and Michael Bruenig},
            year = {2009},
          number = {6},
             url = {https://eprints.qut.edu.au/63610/},
        abstract = {The Lake Wivenhoe Integrated Wireless Sensor Network is conceptually similar to traditional SCADA monitoring and control approaches. However, it is applied in an open system using wireless devices to monitor processes that affect water quality at both a high spatial and temporal frequency. This monitoring assists scientists to better understand drivers of key processes that influence water quality and provide the operators with an early warning system if below standard water enters the reservoir. Both of these aspects improve the safety and efficient delivery of drinking water to the end users.}
}

@book{WHO2013Health,
  author = {WHO},
  title = {Health risk assessment from the nuclear accident after the 2011 Great East Japan earthquake and tsunami, based on a preliminary dose estimation},
  publisher = {WHO press, World Health Organization},
  edition = {1},
  year = {2013},
  pages = {172},
  isbn = {978924150513-0}
}

@phdthesis{Pereira2007Navigation,
  title={Navigation and guidance of an autonomous surface vehicle},
  author={de Menezes Pereira, Arvind Antonio},
  year={2007},
  school={University of Southern California}
}

@article{Sanford1978Velocity,
title = "A velocity profiler based on the principles of geomagnetic induction",
journal = "Deep Sea Research",
volume = "25",
number = "2",
pages = "183 - 210",
year = "1978",
issn = "0146-6291",
doi = "https://doi.org/10.1016/0146-6291(78)90006-1",
url = "http://www.sciencedirect.com/science/article/pii/0146629178900061",
author = "Thomas B. Sanford and Robert G. Drever and John H. Dunlap",
abstract = "A technique to determine the variations of horizontal velocity between the sea surface and bottom, based on the measurement of electric currents generated by the motion of the seawater through the Earth's magnetic field, has been developed. A freely-falling Electro-Magnetic Velocity Profiler, EMVP, senses the currents as a function of depth. Velocity is inferred as the equivalent velocities required to generate the observed electric currents in the local geomagnetic field. The inferred velocity profile is relative to an unknown, but depth-independent, velocity contribution. Hence, the profiles are of the depth-variable velocity components. The device is released from the surface, falls to a preset depth or to the sea floor and returns to the surface. Both descent and ascent take about 90 min in water 6000 m deep. The r.m.s. velocity errors are about 1 to 2 cm s−1 at the vertical resolution of independent methods, 50 m and larger. Simultaneous profiles by two identical EMVPs have r.m.s. velocity differences of less than 0.7 cm s−1 at a vertical resolution of 10 m. A second electric measurement on the instrument yields a velocity profile within 0.3 cm s−1 r.m.s. of the first electric measurement every 10 m. A performance level of ±1 cm s−1 at a vertical resolution of 10 m is indicated. This level is expected in the absence of strong magnetotelluric currents, which can produce errors as large as 10 cm s−1 during infrequent (10 to 20 times per year) periods of strong temporal fluctuations of the geomagnetic field. Temperature, electrical conductivity, pressure, and other variables are recorded twice each second. The digitally recorded data are processed aboard ship to obtain velocity and density profiles."
}

@article{Mitarai2016Wave,
author = {Mitarai, S. and McWilliams, J. C.},
title = {Wave glider observations of surface winds and currents in the core of Typhoon Danas},
journal = {Geophysical Research Letters},
volume = {43},
number = {21},
pages = {11,312-11,319},
keywords = {air-sea interactions, tropical cyclones, Wave Glider},
doi = {10.1002/2016GL071115},
url = {https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1002/2016GL071115},
eprint = {https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1002/2016GL071115},
abstract = {Abstract Simultaneous monitoring of surface winds and currents is essential to understand oceanic responses to tropical cyclones. We used a new platform, a Wave Glider (Liquid Robotics) to observe air-sea processes during a typhoon, equivalent to a category 4-hurricane, at peak strength, near Okinawa, Japan. Surface winds showed strong asymmetry in both speed and direction, faster fore than aft. Rotations of surface winds and currents were not coupled; currents rotated clockwise in the wake of the typhoon eye after passage of rapid wind rotations. Wind work was mostly done ahead of the eye, amplifying prior inertial motions with a phase shift. Wind-induced energy was nearly balanced with an increase in estimated kinetic energy of the upper ocean current, relative to prior inertial oscillations. This study provides a newer, more complete view of actual atmosphere-ocean interactions in a typhoon.},
year = {2016},
}

@Article{Daniel2011Wave,
author="Daniel, Tom
and Manley, Justin
and Trenaman, Neil",
title="The Wave Glider: enabling a new approach to persistent ocean observation and research",
journal="Ocean Dynamics",
year="2011",
month="Oct",
day="01",
volume="61",
number="10",
pages="1509--1520",
abstract="The Wave GliderTM wave-powered unmanned maritime vehicle represents a novel and unique approach to persistent ocean presence. Wave Glider is a hybrid sea-surface and underwater vehicle in that it is comprised of a submerged ``glider'' attached via a tether to a surface float. The Wave Glider vehicle is propelled by the purely mechanical conversion of ocean wave energy into forward thrust, independent of wave direction. In this paper, we provide an overview of the design of this new platform and present results from the engineering sea trials conducted with several prototype and production versions of the vehicle. In addition to the Wave Glider technology, we present results from ongoing scientific demonstration programs. Results from test deployments of a conductivity--temperature--depth sensor and its applicability to oceanography are discussed. An evaluation of horizontal current profiles and current velocity estimation from a Wave Glider operating in Monterey Bay (California, USA) are presented.",
issn="1616-7228",
doi="10.1007/s10236-011-0408-5",
url="https://doi.org/10.1007/s10236-011-0408-5"
}

@article{Lenain2014Autonomous,
  title={Autonomous surface vehicle measurements of the ocean's response to Tropical Cyclone Freda},
  author={Lenain, Luc and Melville, W Kendall},
  journal={Journal of Atmospheric and Oceanic Technology},
  volume={31},
  number={10},
  pages={2169--2190},
  year={2014}
}

@article{Sullivan2012Transient,
author = {Sullivan, Peter P. and Romero, Leonel and McWilliams, James C. and Melville, W. Kendall},
title = {Transient Evolution of Langmuir Turbulence in Ocean Boundary Layers Driven by Hurricane Winds and Waves},
journal = {Journal of Physical Oceanography},
volume = {42},
number = {11},
pages = {1959-1980},
year = {2012},
doi = {10.1175/JPO-D-12-025.1},
url = {https://doi.org/10.1175/JPO-D-12-025.1},
eprint = {https://doi.org/10.1175/JPO-D-12-025.1},
abstract = {A large-eddy simulation (LES) model, which adopts wave-averaged equations with vortex force, is used to investigate Langmuir turbulence and ocean boundary layer (OBL) dynamics in high-wind hurricane conditions. The temporally evolving spatially asymmetric wind and wave Stokes drift velocity imposed in the LES are generated by a spectral wave prediction model adapted to Hurricane Frances traveling at a speed of 5.5 m s−1. The potency of Langmuir turbulence depends on the turbulent Langmuir number, the wind–Stokes drift alignment, and the depth scale of the Stokes profile Ds relative to the OBL depth h. At the time of maximum winds, large-scale vigorous coherent cells develop on the right-hand side of the storm under the inertially rotating winds; the Stokes drift velocity is well tuned to the surface winds. Much weaker cells develop on the left-hand side of the storm, partly because of reduced Stokes production. With misaligned winds and waves the vertical momentum fluxes can be counter to the gradient of Stokes drift, and the cell orientation tracks the direction of the mean Lagrangian shear. The entrainment flux is increased by 20\% and the sea surface temperature is 0.25 K cooler on the right-hand side of the storm in the presence of Langmuir turbulence. Wave effects impact entrainment when the ratio Ds/|h| > 0.75. Because of wind–wave asymmetry Langmuir cells add quantitatively to the left–right asymmetry already understood for hurricanes due to resonance. And the transient evolution of the OBL cannot be understood simply in terms of equilibrium snapshots.}
}

@INPROCEEDINGS{Patterson2012Control, 
author={M. Patterson and R. Marston and S. Christopher and A. Jacobs and A. McDonald and J. Nicinska and R. Chadwick}, 
booktitle={2012 Oceans}, 
title={Control of tactical-scale, micro-unmanned surface vehicles (USVs): Ocean observations platforms systems and observations}, 
year={2012}, 
volume={}, 
number={}, 
pages={1-6}, 
keywords={marine vehicles;microrobots;mobile robots;motion control;oceanographic techniques;path planning;remotely operated vehicles;storms;tactical-scale micro unmanned surface vehicles;micro USV platform;ocean observations platforms systems;unmanned systems;EMILY;expeditionary science missions;littoral mapping exercises;hurricane tracking;continuous data gathering;autonomous vehicles;autonomous navigation;Hurricanes;US Government agencies;Sonar;Tropical cyclones;Sea surface;Sensors;Lakes;EMILY;micro-USV;sensors;autonomous navigation;modeling;hurricane;unmanned surface vessels}, 
doi={10.1109/OCEANS.2012.6405000}, 
ISSN={0197-7385}, 
month={Oct},}

@article {Fitzpatrick2015Review,
title = "A Review of the 2014 Gulf of Mexico Wave Glider Field Program",
journal = "Marine Technology Society Journal",
year = "2015",
volume = "49",
number = "3",
pages = "64-71",
issn = "0025-3324",
url = "https://www.ingentaconnect.com/content/mts/mtsj/2015/00000049/00000003/art00010",
doi = "doi:10.4031/MTSJ.49.3.14",
keyword = "Wave Glider, ocean observing program, tropical cyclones/hurricanes, buoy technology, unmanned surface vehicle (USV)",
author = "Fitzpatrick, Patrick J. and Lau, Yee and Moorhead, Robert and Skarke, Adam and Merritt, Daniel and Kreider, Keith and Brown, Chris and Carlon, Ryan and Hine, Graham and Lampoudi, Teri and Leonardi, Alan P.",
abstract = "Sustained observations of oceanographic and atmospheric boundary layer conditions are imperative for the investigation of tropical cyclone genesis, for numerical model input to predict track and intensity, and in general, for many environmental monitoring needs. We present preliminary results of a Fall 2014 100-day deployment of Wave Glider platforms in the eastern Gulf of Mexico designed to dynamically collect surface weather, water temperature, wave, and ocean current profile data within tropical cyclones. Data were collected and retransmitted near real time through a Liquid Robotics interface to regional and national data portals such as the National Data Buoy Center, and secondarily also used by the private sector. Accomplishments include buoy loitering for validation exercises, data gap filling, platform redeployments, and an interception of the fringes of Tropical Storm Hanna. Preliminary buoy loitering assessments using bias and absolute error metrics showed reasonable agreement with buoys for atmospheric pressure, wave, and height-adjusted wind data but that the temperature hardware requires an improved sensor. A full assessment of the potential for the sustained collection and real-time dissemination of environmental data for Wave Glider platforms is presented including lessons learned.",
}

@Article{Jonkman2005Global,
author="Jonkman, S. N.",
title="Global Perspectives on Loss of Human Life Caused by Floods",
journal="Natural Hazards",
year="2005",
month="Feb",
day="01",
volume="34",
number="2",
pages="151--175",
abstract="Every year floods cause enormous damage all over the world. This study investigates loss of human life statistics for different types of floods and different regions on a global scale. The OFDA/CRED Database contains data on international disasters and is maintained by the Centre for Research on the Epidemiology of Disasters in Brussels (CRED) in cooperation with United States Office for Foreign Disaster Assistance (OFDA). Information from this source on a large number of flood events, which occurred between January 1975 and June 2002, is evaluated with respect to flood location and flood type. Due to the limited availability of information on coastal flood events, the scope of this study is limited to three types of freshwater flooding: river floods, flash floods and drainage problems. First, the development of loss of life statistics over time is discussed. Second, the dataset is analysed by region, by flood type and by the combination of type and region. The study shows that flash floods result in the highest average mortality per event (the number of fatalities divided by the number of affected persons). A cross analysis by flood type and location shows that average mortality is relatively constant for the different types over various continents, while the magnitude of the impacts (numbers of killed) and affected for a certain type varies between the different continents. On a worldwide scale Asian river floods are most significant in terms of number of persons killed and affected. Finally, a comparison with figures for other types of natural disasters shows that floods are the most significant disaster type in terms of the number of persons affected.",
issn="1573-0840",
doi="10.1007/s11069-004-8891-3",
url="https://doi.org/10.1007/s11069-004-8891-3"
}

@article{Jongman2012Global,
title = "Global exposure to river and coastal flooding: Long term trends and changes",
journal = "Global Environmental Change",
volume = "22",
number = "4",
pages = "823 - 835",
year = "2012",
issn = "0959-3780",
doi = "https://doi.org/10.1016/j.gloenvcha.2012.07.004",
url = "http://www.sciencedirect.com/science/article/pii/S0959378012000830",
author = "Brenden Jongman and Philip J. Ward and Jeroen C.J.H. Aerts",
keywords = "Flood risk, Damage estimation, Land-use change, Population growth, Global change",
abstract = "Flood damage modelling has traditionally been limited to the local, regional or national scale. Recent flood events, population growth and climate change concerns have increased the need for global methods with both spatial and temporal dynamics. This paper presents a first estimation of global economic exposure to both river and coastal flooding for the period 1970–2050, using two different methods for damage assessment. One method is based on population and the second is based on land-use within areas subject to 1/100 year flood events. On the basis of population density and GDP per capita, we estimate a total global exposure to river and coastal flooding of 46 trillion USD in 2010. By 2050, these numbers are projected to increase to 158 trillion USD. Using a land-use based assessment, we estimated a total flood exposure of 27 trillion USD in 2010. For 2050 we simulate a total exposure of 80 trillion USD. The largest absolute exposure changes between 1970 and 2050 are simulated in North America and Asia. In relative terms we project the largest increases in North Africa and Sub-Saharan Africa. The models also show systematically larger growth in the population living within hazard zones compared to total population growth. While the methods unveil similar overall trends in flood exposure, there are significant differences in the estimates and geographical distribution. These differences result from inherent model characteristics and the varying relationship between population density and the total urban area in the regions of analysis. We propose further research on the modelling of inundation characteristics and flood protection standards, which can complement the methodologies presented in this paper to enable the development of a global flood risk framework."
}

@InProceedings{Qi2018Frustum,
author = {Qi, Charles R. and Liu, Wei and Wu, Chenxia and Su, Hao and Guibas, Leonidas J.},
title = {Frustum PointNets for 3D Object Detection From RGB-D Data},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2018}
}

@InProceedings{Xu2018Multi,
author = {Xu, Bin and Chen, Zhenzhong},
title = {Multi-Level Fusion Based 3D Object Detection From Monocular Images},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2018}
}

@InProceedings{Chen2018Progressively,
author = {Chen, Hao and Li, Youfu},
title = {Progressively Complementarity-Aware Fusion Network for RGB-D Salient Object Detection},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2018}
}

@article {Goldenberg2001Recent,
	author = {Goldenberg, Stanley B. and Landsea, Christopher W. and Mestas-Nu{\~n}ez, Alberto M. and Gray, William M.},
	title = {The Recent Increase in Atlantic Hurricane Activity: Causes and Implications},
	volume = {293},
	number = {5529},
	pages = {474--479},
	year = {2001},
	doi = {10.1126/science.1060040},
	publisher = {American Association for the Advancement of Science},
	abstract = {The years 1995 to 2000 experienced the highest level of North Atlantic hurricane activity in the reliable record. Compared with the generally low activity of the previous 24 years (1971 to 1994), the past 6 years have seen a doubling of overall activity for the whole basin, a 2.5-fold increase in major hurricanes (>=50 meters per second), and a fivefold increase in hurricanes affecting the Caribbean. The greater activity results from simultaneous increases in North Atlantic sea-surface temperatures and decreases in vertical wind shear. Because these changes exhibit a multidecadal time scale, the present high level of hurricane activity is likely to persist for an additional \~{}10 to 40 years. The shift in climate calls for a reevaluation of preparedness and mitigation strategies.},
	issn = {0036-8075},
	URL = {http://science.sciencemag.org/content/293/5529/474},
	eprint = {http://science.sciencemag.org/content/293/5529/474.full.pdf},
	journal = {Science}
}