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dc.contributor.authorWest, Michael E.
dc.contributor.authorNovitzky, Michael
dc.contributor.authorVarnell, Jesse P.
dc.contributor.authorMelim, Andrew
dc.contributor.authorSequin, Evan
dc.contributor.authorToler, Tedd C.
dc.contributor.authorCollins, Tomas R.
dc.contributor.authorBogle, John R.
dc.date.accessioned2011-05-16T15:18:23Z
dc.date.available2011-05-16T15:18:23Z
dc.date.issued2010
dc.identifier.urihttp://hdl.handle.net/1853/38878
dc.description.abstractGeorgia Tech Research Institute (GTRI) has developed the Yellowfin, a small man-portable Unmanned Underwater Vehicle (UUV). The mission for Yellowfin is to conduct autonomous collaborative operations. The multi-UUV design allows for a much wider swath of the ocean to be observed and monitored, while collaborative operations allow multiple aspects of a mission to be tackled with distributed systems. Both oceanographic and military missions are aided tremendously by the use of such a UUV network. This paper introduces the modular and flexible design of the Yellowfin system and describes some of the technologies integrated within the system construct. The system and software architectures of Yellowfin leverage COTS technologies, including software whose foundation is MOOS-IvP, expanded to include several aspects of autonomy, communication with the WHOI acoustics modem utilizing the JAUS message standard, mission planning using MissionLab, mission execution via Falcon- ViewTM , front seat control with a microcontroller, and visualization with the Blender open-source, cross-platform suite of tools for 3D graphics.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectUnderwater vehiclesen_US
dc.subjectUnmanned underwater vehiclesen_US
dc.subjectAutonomous operationen_US
dc.titleDesign and Development of the Yellowfin UUV for Homogenous Collaborative Missionsen_US
dc.typePaperen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameGeorgia Tech Research Institute


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