AEFMIST - Autonomous exploration and fault management integration sea trials

Access/Technology provider: UdG, UdG-SEA_S2

End User: Jacobs University Bremen, Germany [Academia]

Dates: 16 Oct 2020 - 14 May 2021

Goals: This TNA is focused on simulating vehicle faults (thrusters, sensors, etc.) on the real AUV and reacting safely to them. It also focuses on autonomous exploration. The TNA started in November 2020 with several meetings to discuss the simulation of faults and how to integrate them in the software architecture of the vehicle. Several modifications were done to the Sparus II AUV to add a downward looking camera and a forward looking multibeam. The faults simulated during the experiments are related to percentages of failure in the thrusters that are triggered mid-experiment.

The fault detection experiments were achieved and refined during several experiments before being tested at sea. The goal of detecting faults observing the vehicle trajectory compared to the inputs requested to the thrusters was completed. Additionally, since the TNA was executed remotely, a thorough study of the different connection methods to get access to the vehicle and be able to control it remotely was performed and the results were published in a conference paper.


A paper was presented at IEEE Africon 2021 conference:

  • Peter-Newman Messan, Szymon Krupinski, Guillem Vallicrosa, Pere Ridao and Francesco Maurelli; Evaluation of computer networking methods for interaction with remote robotic systems; IEEE Africon 2021, Arusha, ISSN 2153-0033 September 2021.

The work performed about faults has been submitted to IEEE Oceans 2022.