ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300
This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.
Citation Formats
TY - DATA
AB - This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.
AU - Hollinger, Geoffrey
A2 - Lawrance, Nicholas
DB - Marine and Hydrokinetic Data Repository
DP - Open EI | National Renewable Energy Laboratory
DO - 10.15473/1439810
KW - MHK
KW - Marine
KW - Hydrokinetic
KW - energy
KW - power
KW - underwater vehicles
KW - python code
KW - video
KW - mp4
KW - AutoAMP
KW - platform deployment
KW - intervention trial
KW - semi-autonomous
KW - underwater vehicle
KW - sAUV
KW - Seabotix
KW - vLBV300
KW - ALFA
KW - laboratory
KW - field
KW - array
KW - technology
KW - near-shore
KW - offshore
KW - Newport Bay
KW - Oregon State University
KW - Python
LA - English
DA - 2017/06/19
PY - 2017
PB - Oregon State University
T1 - ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300
UR - https://doi.org/10.15473/1439810
ER -
Hollinger, Geoffrey, and Nicholas Lawrance. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. Oregon State University, 19 June, 2017, Marine and Hydrokinetic Data Repository. https://doi.org/10.15473/1439810.
Hollinger, G., & Lawrance, N. (2017). ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. [Data set]. Marine and Hydrokinetic Data Repository. Oregon State University. https://doi.org/10.15473/1439810
Hollinger, Geoffrey and Nicholas Lawrance. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. Oregon State University, June, 19, 2017. Distributed by Marine and Hydrokinetic Data Repository. https://doi.org/10.15473/1439810
@misc{MHKDR_Dataset_247,
title = {ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300},
author = {Hollinger, Geoffrey and Lawrance, Nicholas},
abstractNote = {This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.},
url = {https://mhkdr.openei.org/submissions/247},
year = {2017},
howpublished = {Marine and Hydrokinetic Data Repository, Oregon State University, https://doi.org/10.15473/1439810},
note = {Accessed: 2025-07-05},
doi = {10.15473/1439810}
}
https://dx.doi.org/10.15473/1439810
Details
Data from Jun 19, 2017
Last updated Jun 30, 2020
Submitted Jan 30, 2018
Organization
Oregon State University
Contact
Geoffrey Hollinger
541.737.5906
Authors
Keywords
MHK, Marine, Hydrokinetic, energy, power, underwater vehicles, python code, video, mp4, AutoAMP, platform deployment, intervention trial, semi-autonomous, underwater vehicle, sAUV, Seabotix, vLBV300, ALFA, laboratory, field, array, technology, near-shore, offshore, Newport Bay, Oregon State University, PythonDOE Project Details
Project Name Advanced Laboratory and Field Arrays (ALFA)
Project Lead Tim Ramsey
Project Number EE0006816
