The main objective of the project is to advance the state of the art of underwater robotics applied to interventions in archaeological sites. Thus, on the one hand, the semi-autonomous manipulation capacity in scenarios with occlusion of objects is being investigated, and on the other hand the improvement of the wireless communications system and the compression of images, in a way that allows (if necessary) the mobility of the submarine vehicle without umbilical. In addition, supervised control by the remote operator will be allowed, taking into account the restrictions of the network.

Figure1: Example of underwater image taken by the UJI IRS-Lab robot, with a resolution of 1200x650 pixels, compressed in real time to 3047 bytes, and sent through a radio frequency channel to the operator base in the surface (Phd thesis of Eduardo Rubino and Diego Centelles, in collaboration with the University Federal of Brasilia)

Figure 2: Example of underwater autonomous grasping, using (in this case) the laser to get the 3D Point Cloud of the scene, and launching autonomous grasping determination and execution algorithms

Fig.- Big picture dealing with the envisioned experimental validation trials

Fig.- Autonomous vision based manipulation strategies running in water tank conditions (IRS-Lab)

Fig.- Gantt Chart detailing the Work Plan during the 4-year project's life