@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}
}
@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}
}
@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}
}
@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}
}
@book {131,
	title = {Recent advances in underwater robotics for intervention mission},
	year = {2012},
	pages = {36},
	issn = {978-84-940663-7-5},
	author = {Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Sales, Jorge and Oliver, Gabriel and Ridao, Pere}
}
@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 {105,
	title = {Development of a person-following shopping cart assistance robot},
	booktitle = {Assistance robots for the elderly (European Robotics Forum 2011)},
	year = {2011},
	month = {04-2011},
	address = {V{\"a}ster{\r a}s (Sweden},
	author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Cervera, Enric and Oliver, Gabriel}
}
@article {5638803,
	title = {New approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention},
	journal = {Aerospace and Electronic Systems Magazine, IEEE},
	volume = {25},
	number = {11},
	year = {2010},
	month = {11/2010},
	pages = {32 -36},
	keywords = {acoustic sensors, acoustic signal detection, manipulators, optic sensors, optical sensors, RAUVI, reconfigurable autonomous underwater vehicle, remotely operated vehicles, robotic arm, underwater vehicles},
	issn = {0885-8985},
	doi = {10.1109/MAES.2010.5638803},
	author = {De Novi, G. and Melchiorri, C. and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel}
}
@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}
}
@conference {sanz10a,
	title = {TRIDENT: A Framework for Autonomous Underwater Intervention Missions with Dexterous Manipulation Capabilities},
	booktitle = {7th Symposium on Intelligent Autonomous Vehicles IAV-2010},
	year = {2010},
	publisher = {IFAC},
	organization = {IFAC},
	isbn = {978-3-902661-87-6},
	doi = {10.3182/20100906-3-IT-2019.00034},
	author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot and A. Turetta}
}
@conference {102,
	title = {TRIDENT: Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions},
	booktitle = {7th IFAC Symposium on Intelligent Autonomous Vehicles},
	year = {2010},
	month = {09/2010},
	isbn = {10.31/20100906-3-IT-2019.00034},
	author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot}
}
