Aquatic walking robot

这个为期三年的项目的目标是探索水下机器人的科学和技术，特别强调水下传感，规划和移动控制的计算，信息科学和软件基础设施。虽然水下领域是我们的技术重点，但应该指出的是，它是一个典型的非结构化环境，与其他感兴趣的领域有许多共同的特征。具体来说，在这个项目中，我们建议开发技术，以支持在浅水环境（100英尺以下）中和附近运行的全自主水下航行器。这项工作充分利用了先前IRIS NCE项目AQUA（见[Georgiades 2004，Dudek 2005]）中开发的技术和基础设施，该项目开发了水下航行器的原型技术，而正在进行的T-GAP项目AQUATAR正在开发AQUA航行器的遥控版本。虽然这些努力非常成功，但仍有许多长期的科学问题有待解决，这些问题是目前提案的重点。为了集中和统一的研究，将发生在这个项目中，直接我们的研究工作的机器人车辆的发展，可以执行监视水下结构与水下环境评估的具体重点，但与许多其他潜在的应用以及。

The goal of this three-year project is to explore the science and technology of underwater robotics, with particular emphasis on the computational, information science and software infrastructure for underwater sensing, planning, and mobility control. While the underwater domain serves as out technological focus, it should be noted that it is a prototypical unstructured environment and shares many characteristics in common with other domains of interest. Specifically, within this project we propose to develop technology to support fully autonomous underwater vehicles that operate in and about shallow-water environments (under 100ft). This work leverages and exploits technologies and infrastructure developed in a prior IRIS NCE project entitled AQUA (see [Georgiades2004, Dudek2005]) in which prototype technologies for an underwater vehicle were developed and an ongoing T-GAP project AQUATAR that is developing a teleoperated version of the AQUA vehicle. While these efforts were highly successful, numerous longer term scientific issues remain to be resolved and these are the focus of the current proposal. In order to focus and unify the research that will take place within this project direct our research efforts to the development of a robotic vehicle that can perform surveillance underwater structures with a specific focus of underwater environmental assesment, but with many other potential applications as well.