A system for the automatic survey of underwater structures

Abstract

In this paper we describe the architecture of an automatic navigation and inspection system for underwater robotic vehicles, employed in the survey of underwater structures like pipelines. Using sensory data and a map of the structure to survey, the system is able to update the information about the status of the pipelines.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>