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.

Data and Resources

Field Value
DOI 10.15473/1439810
accessLevel public
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issued 2017-06-19T06:00:00Z
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projectLead Tim Ramsey
projectNumber EE0006816
projectTitle Advanced Laboratory and Field Arrays (ALFA)
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Groups
  • AmeriGEOSS
  • National Provider
  • North America
Tags
  • alfa
  • amerigeo
  • amerigeoss
  • array
  • autoamp
  • ckan
  • energy
  • field
  • geo
  • geoss
  • hydrokinetic
  • intervention-trial
  • laboratory
  • marine
  • mhk
  • mp4
  • national
  • near-shore
  • newport-bay
  • north-america
  • offshore
  • oregon-state-university
  • platform-deployment
  • power
  • python
  • python-code
  • sauv
  • seabotix
  • semi-autonomous
  • technology
  • underwater-vehicle
  • underwater-vehicles
  • united-states
  • video
  • vlbv300
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maintainer Geoffrey Hollinger
maintainer_email geoff.hollinger@oregonstate.edu
metadata_created 2025-11-21T12:53:49.556026
metadata_modified 2025-11-21T12:53:49.556030
notes 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.
num_resources 2
num_tags 35
title ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300