General Characteristics

The mission is entered by the operator using a Man-Machine interface as a sequence of basic goals (go to a specified point or list of points, survey a given 2D or 3D region enforcing a given spacial sampling, follow contour levels of a given sensor output,...). The interface translates the user requirements into a completely specified robotic mission, which can be simulated prior to launching, to let the user access the expected operating conditions. Tools for statistical performance analysis developed in the project MAUVE are also currently being integrated to the interface, to provide to the user information concerning several indicators :expected (positioning) error levels, required energy, level of risk, etc.

For positioning in a global world frame Mauve uses two acoustic transponders, whose location is callibrated at the begining of the mission. The following images show the buoys (left) supporting the two acoustic emitters/receivers (right) during an experiment at sea.

The vehicle is equipped with a rather general set of sensors