Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Abstract

In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.