Author: cirs

Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints

Doctoral thesis “Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints” By Juan David Hernández Vega Supervised by Dr. Marc Carreras   Abstract Thesis submitted to the University of Girona in fulfillment of the requirements for the degree of Doctor of PhilosophySince their beginning in the late 1950s, the capabilities and applications of autonomous underwater vehicles (AUVs) have continuously evolved. Their most common applications include imaging and inspecting different kinds of structures on the sea floor as well as collecting oceanographic informa-tion: biological, chemical, and even archaeological data.   Most of these applications require a priori information of the area or structure to be inspected, either to navigate at a safe and conservative altitude or to pre-calculate a survey path. However there are other applica-tions where it’s unlikely that such information is available (e.g., exploring confined natural environments like underwater caves). In these scenarios, AUVs must operate in unexplored…

Six members of ViCOROB attend the Breaking the Surface summer school in Croatia

BtS (Breaking the Surface) is a summer workshop that encourages interaction and the exchange of knowledge and experience about the maritime robotics field and its applications. In 7 days, participants get first-hand knowledge about the latest in scientific research and results, technological achievements as well as hands-on experience in working with complex and modern underwater systems.   In the event, Nuno Gracias and Ricard Campos gave a tutorial on “Omnidirectional vision for underwater robots”. Marc Carreras gave a talk on “Towards persistent AUVs for seabed inspection”. Khadidja Himri, Patryk Cieslak and Joseta Roca also attended to the workshop.   Along the 7 days, the team had the chance to interact with other international labs and companies. Also, in the framework of the event, an EXCELLABUST project meeting was organized for the planing of the following 12 months of project, including topics like EMRA18 workshop that is going to take place…

Successful participation of our team in European Robotics League competition 2017

ERL Emergency 2017 occurred in Piombino on 15-23 September, is an European Robotics League competition or what researchers calls Champions League of Robotics, instigated by the catastrophic nuclear accidents that touched Fukushima, Japan, in 2011. The challenge collecting among 130 participants from 16 universities and companies, came from 8 European countries. In the competition, robots from different domain: air, land and sea cooperate in order to complete a task within a set period. These experience also provide great opportunity to broadcasting technologies and improving relations with researchers with similar interests. where the main goal remaind to advance and improve in technological skills and international cooperation.   Khadija Himri PhD student shares her experience in European Robotics League ERL17 competition:   “This academic year was marked by my first experience with participating in European Robotics Leagues ERL17 competition, the principal goal of the competition aimed to test Robot’s abilities of deployment…

Summer time is here!!

Don’t miss this opportunity to relax and enjoy your free time. We will be closed from the 7th of August until the 1st of September. Have a nice holiday!   Aprofiteu per descansar i desconectar. Recordeu que marxem del 7 d’agost a l’1 de setembre. Bon estiu!!!!


Doctoral thesis “Robot Learning applied to Autonomous Underwater Vehicles for intervention tasks” By Arnau Carrera Viñas Supervised by Marc Carreras, Narcís Palomeras and Petar Kormushev   ABSTRACT The interest in performing underwater tasks using AUVs has been growing over the past few decades. The initial focus was on the exploration of underwater areas, performing survey trajectories harvesting data to build bathymetric maps or photo-mosaics. Later the focus of research switched to performing inspections of underwater structures or elements (e.g., pipelines) which required more complex behaviours and localization methods. Advances in these fields have awakened the interest of the community in using AUVs to perform intervention tasks, replacing ROVs and manned submersibles. This replacement offers the possibility of automatizing tasks, increasing the efficiency and repetitively, as well as reducing cost, time, and the equipment needed to perform an underwater intervention. I-AUVs open the door for more companies and scientists to increase the frequency of…


The 60th MTS/IEEE OCEANS Conference took place from the 19th to 22nd of June 2017 in Aberdeen, Scotland. Covering all aspects of ocean science, technology and engineering, the conference provides a nice venue for interaction among engineers, researchers, and marine scientists.   Girona Underwater Vision and Robotics team together participated in all aspects of the conference, with the showcase of the Sparus II AUV in the exhibition hall, presentation on our work on Real-time Fish Detection in the main program as well as with two PhD students (Eduard Vidal and Klemen Istenic selected for the student poster competition.   During the three day competition for the Student Poster Award, 20 selected students from around the world had to present their work in front of their posters to 8 international judges as well as other interested public. This gave the students a chance to get valuable feedback from experienced scientists from both academia and industry….

Girona acull la quarta edició del Congrés de Robotica Submarina EMRA

Els passats dies 15 i 16 de Maig de 2017 va tenir lloc la conferència EMRA (4th Workshop on EU-funded Marine Robotics and Applications) al Parc Científic i Tecnològic de la Universitat de Girona. L’objectiu de l’esdeveniment és la posta en comú dels resultats dels projectes europeus que han estat finançats per la Comissió Europea dins la comunitat científica i la comunitat empresarial, fomentant la creació de xarxes de col·laboració i, sobretot, esperant la creació de sinèrgies per a nous projectes.   L’esdeveniment, que fou organitzat per l’Institut de Recerca ViCOROB de la Universitat de Girona conjuntament amb la Universitat de Zagreb i l’institut de recerca INESC TEC de Porto, ha estat realitzat dins el marc de dos projectes europeus en col·laboració. A Girona s’hi han reunit un total de 93 persones, i més de 25 persones han fet seguiment online de l’esdeveniment.   A la conferència es van fer…

7th workshop on maritime automation

From May 4th-5th the seventh conference on maritime automation ”AUTOMAR” took place in Castelló de la Plana, where the conference was hosted by the university of Jaume I.   The conference with participants and speakers from Spain, France and Italy, was met by research process and scientific interest. During the two days, the conference was divided into several main themes, based on challenges and opportunities in underwater robotic that lay on ocean science, technology and industry, allowing the attendees to exchange ideas and issues.   The conference by itself was a nice experience, where I met new and interesting researchers and got a new perspectives.        

MERBOTS/ARCHROV Experiments demonstrate semi-autonomous Grasping Capabilities

During the week of the 27th of March the experiments of the MERBOTS National Research project involving 3 teams form UJI, UIB and UdG have been held in Girona.   The experiments where first performed at the CIRS water tank and then reproduced at Sant Feliu Harbor. The experiments involved two cooperative robots. SPARUS II AUV equipped with a lateral thruster and a forward-looking camera was used as a ‘flying camera’. The robot was teleoperated to achieve a desired view of a target (an amphora) and Visual Servoing techniques were used to keep the robot in place. Then GIRONA 500 AUV equipped with a 4 DOF, a stereo cam and a real-time 3D laser scanner was used to autonomously grasp the object.

Rafael Garcia gives a talk in Vigo University on the development of technology for underwater exploration

Marine habitats play an important role in the understanding and management of ocean resources. The development of technology for underwater exploration is essential for the monitoring of these areas sensitive to environmental changes or pollution, but also for coastal development and management plans for marine protected areas. However, such exploration faces serious difficulties, mainly due to the intrinsic hostility of the underwater environment.   The advances of recent years in the field of robotics and artificial intelligence allow us to develop robots that are becoming more autonomous and allow us to process a greater amount of data in an automated way. These advances will enable us in the future to move towards a scalable solution to the problem of access to infrastructures for ocean observation, by means of cheaper robot fleets with greater observation and intervention capabilities.   In this presentation, Rafael Garcia described the work being carried out at…