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TRITON advances: Active Range-Only Beacon Localization for AUV Homing

This video presents recent advances of the TRITON project performed by the Universitat de Girona. It shows a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence.

TRITON project has been presented during a seminar at Universidade de Coimbra

During his PhD. research stay, Juan Carlos García has presented the TRITON research project to the members of the "Instituto de Sistemas e Robótica", from Universidade de Coimbra.

Active Range-Only Beacon Localization for AUV Homing

This video presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence. The method is applied to autonomously locate a subsea panel and home to it in order to establish visual contact to later launch a visual servoing based docking task. The method is demonstrated through field experiments in a harbor environment with Girona500 Autonomous Underwater Vehicle (AUV), developed at Universitat de Girona. On the first part, a teleoperated simulation of the SOG filter is shown. On the second part, one experiment in the harbor of Sant Feliu the Guixols. This second experiment demonstrates the Active Localization and then confirms the estimated position with a forward-looking camera, turning around the estimated beacon location.

Docking & fixed-based manipulation: see trials in Sant Feliu de Guíxols harbour

During a week (12/05 - 16/05/2014) the three partners of the TRITON project met at the CIRS facilities in Girona to replicate the experiments succesfully made in 11/2014 and perform new operations in the Sant Feliu de Guíxols harbour in real conditions. All the hardware and software subsystems worked together to cover the main objective of the project

Docking & Fixed-based Manipulation: Water Tank Experiment

During two weeks (30/09 - 04/10/2014  and 11-15/11/2014) the three partners of the TRITON project met at the CIRS facilities in Girona to integrate all the hardware and software subsystems and carryed out successfully the first milestone (M1) of the project, "Docking & Fixed-based Manipulation: Water Tank Experiment".

It is planned to repeat the same experiments but in sea conditions in May.

New publication in the Robotics & Automation Magazine

We are proud to announce the publication of the article "Grasping for the Seabed" in the Robotics & Automation Magazine. The Magazine (RAM) publishes technical articles of interest to the international robotics and automation community.

Valve and Hot Stab autonomous manipulation in the UJI water tank

Underwater Semi-Autonomous Grasping using Laser 3D Reconstruction

TRITON meeting

The TRITON consortium during the meeting

This TRITON meeting was held at CIRS (UdG) on 15/11/2012. Some of the attendees were (left to right): P.J. Sanz (IP, UJI), P. Ridao (IP, UdG), R. Marín (UJI), J. Sales (UJI), G. Oliver (IP, UIB).

Kick-Off Meeting in Genoa

Triton consortium in the Kick-off meeting

The TRITON kick-off meeting was held  in Genoa (Italy), on 9/01/2012. Researchers (left-right): M. Prats (UJI), N. Palomeras (UdG), D. Ribas (UdG), P.J. Sanz (IP, UJI), P. Ridao (IP, UdG), G. Oliver (IP, UIB), J. Sales (UJI), J.C. García (UJI), A. Burguera (UIB).

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