@article {271,
	title = {I-AUV Docking and Panel Intervention at Sea},
	journal = {Sensors},
	volume = {16},
	year = {2016},
	month = {12 October 2016},
	type = {Open Access},
	abstract = {<p>The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.</p>
},
	keywords = {autonomous underwater vehicles, field robotics, manipulation, Underwater Intervention},
	doi = {10.3390/s16101673},
	url = {http://www.mdpi.com/1424-8220/16/10/1673/html},
	author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel}
}
@conference {197,
	title = {I-AUV Docking and Intervention in a Subsea Panel},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2014},
	month = {09/2014},
	address = {Chicago, USA},
	isbn = {978-1-4799-6933-3},
	author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Villacrosa, Guillem and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Palomer, Albert}
}
@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 {100,
	title = {A Distributed Architecture for Enabling Autonomous Underwater Intervention Missions},
	booktitle = {4th Annual IEEE International Systems Conference 2010},
	year = {2010},
	month = {04/2010},
	address = {San Diego, California, United States},
	keywords = {Auntonomous Underwater Vehicle for Intervention, Behaviour Robotics, Distributed Architectures},
	isbn = {978-1-4244-5883-7},
	doi = {10.1109/SYSTEMS.2010.5482349},
	author = {Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Ridao, Pere}
}
