Multi-robot multimodal deep sea surveys for detailed estimation of manganese crust distribution
Multi-robot multimodal deep sea surveys for detailed estimation of manganese crust distribution
This paper describes a multi-year survey of Cobaltrich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems,multi beam sonar and sub-bottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database of Mn-crust distribution estimates. Therobots 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 multi beam data for seamount scale estimates of Mn-crust volumetric distribution with high accuracy.
Neettiyath, Umesh
50a478b6-f18e-41b7-886d-11052eaa68b7
Sugimatsu, Harumi
397df4fb-cbf7-4a12-abcf-df2245976a37
Koike, Tetsu
0595f722-7f36-4c5d-b830-aeb4b6f921bb
Nagano, Kazunori
49129778-f2c4-4e6c-ac1d-8ac67dce16a4
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Neettiyath, Umesh
50a478b6-f18e-41b7-886d-11052eaa68b7
Sugimatsu, Harumi
397df4fb-cbf7-4a12-abcf-df2245976a37
Koike, Tetsu
0595f722-7f36-4c5d-b830-aeb4b6f921bb
Nagano, Kazunori
49129778-f2c4-4e6c-ac1d-8ac67dce16a4
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Neettiyath, Umesh, Sugimatsu, Harumi, Koike, Tetsu, Nagano, Kazunori, Ura, Tamaki and Thornton, Blair
(2023)
Multi-robot multimodal deep sea surveys for detailed estimation of manganese crust distribution.
IEEE Robotics and Automation Magazine.
(doi:10.1109/MRA.2023.3348304).
(In Press)
Abstract
This paper describes a multi-year survey of Cobaltrich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems,multi beam sonar and sub-bottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database of Mn-crust distribution estimates. Therobots 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 multi beam data for seamount scale estimates of Mn-crust volumetric distribution with high accuracy.
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Accepted/In Press date: 7 December 2023
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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: 17 Mar 2024 06:21
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Contributors
Author:
Umesh Neettiyath
Author:
Harumi Sugimatsu
Author:
Tetsu Koike
Author:
Kazunori Nagano
Author:
Tamaki Ura
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