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Application of Heterogeneous Robotic System for Underwater Oil Spill Scenario

Antonio Vasilijević
Đula Nađ
Nikola Stilinović
Nikola Mišković
Zoran Vukić ; University of Zagreb, Faculty of Electrical Engineering and Computing

Puni tekst: engleski pdf 2.234 Kb

str. 169-178

preuzimanja: 511



The tragic Deepwater Horizon accident in the Gulf of Mexico in 2010 as well as the increase in deepwater offshore activity have increased public interest in counter-measures available for subsurface
releases of hydrocarbons. To arrive at proper contingency planning, response managers urge for a system for instant detection and characterization of accidental releases. Along these lines, this
paper describes the application of a heterogeneous robotic system of unmanned vehicles: autonomous underwater vehicle (AUV), unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV)
extended with the oil spill numerical modeling, visualisation and decision support capabilities. A first set of field experiments simulating oil spill scenarios with Rhodamine WT was held in Croatia during
the early autumn 2014. and the second set of experiments were held in Spain during the summer 2015. The objectives of this experiment were to test: effectiveness of the system for underwater detection of
hydrocarbons, heterogeneous multi-vehicle collaborative navigation and communication as well as decision support system, visualisation of the system components and detected spill.

Ključne riječi

unmanned vehicles, oil spill, heterogeneous fleet, decision support system

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