Development of an Unmanned Capsule for large-scale maritime search and rescue

This paper describes the development and testing of a robotic capsule for search and rescue operations at sea. This capsule is able to operate autonomously or remotely controlled, is transported and deployed by a larger USV into a determined disaster area and is used to carry a life raft and inflate it close to survivors in large-scale maritime disasters. The ultimate goal of this development is to endow search and rescue teams with tools that extend their operational capability in scenarios with adverse atmospheric or maritime conditions.

High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle

This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.