Shared Autonomy Manipulation Data with a Seabotix vLBV300

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

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Author Oregon State University
Maintainer Geoffrey Hollinger
bureau_code 019:20
Catalog MHKDR
Contact Phone 5417375906
harvest_object_id 53a0e34b-79b1-4de4-9ee5-c09cc72dc50b
harvest_source_id 1e8f6fc6-36f2-47b7-86c5-3caec6e1615d
harvest_source_title Marine Hydrokinetic Data Repository (MHKDR)
Origination Date 2017-06-19
program_code 019:009
Sectors Water, Wind
was_harvested true

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