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Final RAUVI experiments in a harbour
On October 2011 we were at Roses (Girona), doing experiments on autonomous underwater intervention in the harbour. The task was to find and recover a Flight Data Recorder (black box) at some 4m depth in the harbour. The only cable connected to the autonomous vehicle was an ethernet cable used for monitoring the task. Inside the vehicle, there were 3 PCs devoted to vehicle control, arm control and visual processing. The robot successfully performed a survey of the area, found the black box, kept its pose visually on top of it and recovered it using a hook.
The following two videos show a summary of the experiments, that were carried out using the Girona 500 underwater vehicle, the Lightweight ARM 5E manipulator and stereo vision. The first shows a summary of all the parts and the results obtained. The other was recorded by a local TV.