A robotic sentinel for benthic sampling along a transect

Authors:
Jnaneshwar Das;Gaurav S. Sukhatme
Affiliations:
Robotic Embedded Systems Laboratory and Department of Computer Science, University of Southern California;Department of Computer Science, University of Southern California
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

This paper presents the design of a novel robotic system capable of long-term benthic sampling along a transect. The robot is built to traverse back and forth along a mechanical guide-rail at the bottom of a water body. We present results from localization tests with the robot in a laboratory tank and a shallow swimming pool. A pilot deployment was made at a marina to accurately observe the rate and direction of water flow across a section of the marina inlet. Results from the experiment demonstrate the potential of this platform for monitoring various aquatic phenomena of interest.