Multirobot multimodal deep sea surveys: use in detailed estimation of manganese crust distribution
Multirobot multimodal deep sea surveys: use in detailed estimation of manganese crust distribution
This article describes a multiyear survey of cobalt-rich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems, multibeam sonar, and subbottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database of Mn-crust distribution estimates. The robots clocked in a total of 438 hours of seafloor observation, surveying about 589 km of seafloor in different locations. Specific use cases of the survey methodology and example results showing how each sensor contributes to the understanding of Mn-crust distribution are shown. The results from this survey can be combined with ship base multibeam data for seamount-scale estimates of Mn-crust volumetric distribution with high accuracy.
84-95
Neettiyath, Umesh
50a478b6-f18e-41b7-886d-11052eaa68b7
Sugimatsu, Harumi
397df4fb-cbf7-4a12-abcf-df2245976a37
Koike, Tetsu
ba733b87-9ce6-4ec5-a4b6-7e57ff7a739d
Nagano, Kazunori
49129778-f2c4-4e6c-ac1d-8ac67dce16a4
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Neettiyath, Umesh
50a478b6-f18e-41b7-886d-11052eaa68b7
Sugimatsu, Harumi
397df4fb-cbf7-4a12-abcf-df2245976a37
Koike, Tetsu
ba733b87-9ce6-4ec5-a4b6-7e57ff7a739d
Nagano, Kazunori
49129778-f2c4-4e6c-ac1d-8ac67dce16a4
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Neettiyath, Umesh, Sugimatsu, Harumi, Koike, Tetsu, Nagano, Kazunori, Ura, Tamaki and Thornton, Blair
(2024)
Multirobot multimodal deep sea surveys: use in detailed estimation of manganese crust distribution.
IEEE Robotics and Automation Magazine, 31 (1), .
(doi:10.1109/MRA.2023.3348304).
Abstract
This article describes a multiyear survey of cobalt-rich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems, multibeam sonar, and subbottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database of Mn-crust distribution estimates. The robots clocked in a total of 438 hours of seafloor observation, surveying about 589 km of seafloor in different locations. Specific use cases of the survey methodology and example results showing how each sensor contributes to the understanding of Mn-crust distribution are shown. The results from this survey can be combined with ship base multibeam data for seamount-scale estimates of Mn-crust volumetric distribution with high accuracy.
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MRA3348304
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Multirobot_Multimodal_Deep_Sea_Surveys_Use_in_Detailed_Estimation_of_Manganese_Crust_Distribution
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Accepted/In Press date: 7 December 2023
e-pub ahead of print date: 1 February 2024
Identifiers
Local EPrints ID: 485693
URI: http://eprints.soton.ac.uk/id/eprint/485693
ISSN: 1070-9932
PURE UUID: dbd45460-a442-4d89-8e80-e86f3597832c
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Date deposited: 14 Dec 2023 17:39
Last modified: 02 Sep 2024 18:11
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Author:
Umesh Neettiyath
Author:
Harumi Sugimatsu
Author:
Tetsu Koike
Author:
Kazunori Nagano
Author:
Tamaki Ura
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