@article {217,
	title = {I-AUV Mechatronics Integration for the TRIDENT FP7 Project},
	journal = {IEEE/ASME Transactions on Mechatronics},
	volume = {PP},
	year = {2015},
	month = {02/2015 },
	chapter = {1-10},
	abstract = {<p>Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.</p>
},
	keywords = {Autonomous underwater vehicle (AUV), intervention, underwater robotics},
	issn = {1083-4435 },
	doi = {10.1109/TMECH.2015.2395413},
	author = {Ribas, David and Ridao, Pere and A. Turetta and Melchiorri, C. and Palli, G and Fern{\'a}dez, Joseph and Sanz, Pedro J.}
}
@article {218,
	title = {Intervention AUVs: The Next Challenge},
	journal = {Annual Reviews in Control},
	volume = {40},
	year = {2015},
	month = {11/2015},
	chapter = {227-241},
	address = {Cape Town, South Africa},
	abstract = {<p class="rtejustify">While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors\&$\#$39; knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: (1) valve turning and connector plugging/unplugging while docked to a subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far.</p>
},
	doi = {10.1016/j.arcontrol.2015.09.015},
	author = {Ridao, Pere and Carreras, Marc and Ribas, David and Sanz, Pedro J. and Oliver, Gabriel}
}
@article {178,
	title = {Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {20},
	year = {2013},
	month = {10/2013},
	pages = {121 - 130},
	publisher = {IEEE},
	doi = {10.1109/MRA.2013.2248307},
	author = {Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Robinson, Mike and Ribas, David and Ridao, Pere}
}
@conference {78,
	title = {An integration perspective of the TRIDENT project},
	booktitle = {5th International Conference on Cognitive Systems},
	year = {2012},
	month = {02/2012},
	address = {Vienna (Austria)},
	author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel}
}
@conference {83,
	title = {Multipurpose Autonomous Underwater Intervention: A Systems Integration Perspective},
	booktitle = {20th Mediterranean Conference on Control \& Automation (MED 2012)},
	year = {2012},
	month = {07/2012},
	address = {Barcelona (Spain)},
	isbn = {978-1-4673-2529-5/12},
	author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Wirth, Stephan and Ribas, David and Sanz, Pedro J. and Ridao, Pere and Gracias, Nuno and Oliver, Gabriel}
}
@conference {134,
	title = {Proyecto RAUVI: Historia y Resultados},
	booktitle = {XXXIII Jornadas de Autom{\'a}tica},
	year = {2012},
	month = {09/2012},
	address = {Vigo, Spain},
	isbn = {978-84-8158-583-4},
	author = {Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel}
}
@article {14,
	title = {Reconfigurable AUV for intervention missions: a case study on underwater object recovery},
	journal = {Intelligent Service Robotics},
	volume = {5},
	year = {2012},
	note = {To be published},
	month = {01/2012},
	chapter = {19-31},
	issn = {1861-2776},
	doi = {10.1007/s11370-011-0101-z},
	author = {Prats, Mario and Ribas, David and Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Nannen, Volker and Wirth, Stephan and Fern{\'a}ndez, Jos{\'e} Javier and Beltr{\'a}n, Joan P. and Campos, Ricard and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Carreras, Marc and Gracias, Nuno and Mar{\'\i}n, Ra{\'u}l and Ortiz, Alberto}
}
@conference {sanz10b,
	title = {Recent progress in the RAUVI Project. A reconfigurable Autonomous Underwater Vehicle for Intervention},
	booktitle = {52-th International Symphosium ELMAR-2010},
	year = {2010},
	month = {September},
	pages = {471-474},
	address = {Zadar, Croatia},
	author = {Sanz, Pedro J. and Prats, Mario and Ridao, Pere and Ribas, David and Oliver, Gabriel and Ortiz, Alberto}
}
