Autonomous Underwater Robot Grasping Decision Support System

Neha Girish Pusalkar, Mark-Robin Giolando, Julie A. Adams

Abstract: Underwater environments present numerous challenges for marine robots, such as noisy perception, constrained communication, and uncertainty due to wave motion. Collecting and accurately presenting information to the operator in such unstructured environments is a challenging task. A Decision Support System for autonomous underwater grasping provides visualization capabilities and tools to interact with the available information. Successful operator selected, autonomous underwater grasping trials were conducted using a six degrees of freedom robotic arm and a depth camera.