An Autonomous Surface-Aerial Marsupial Robotic Team for Riverine Environmental Monitoring: Benefiting from Coordinated Aerial, Underwater, and Surface Level Perception

Eduardo Pinto, Francisco Marques, Ricardo Mendonca, Andre Lourenco, Pedro Santana, Jose Barata

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

28 Citations (Scopus)


This paper presents RIVERWATCH, an autonomous surface-aerial marsupial robotic team for riverine environmental monitoring. The robotic system is composed of an Autonomous Surface Vehicle (ASV) piggybacking a multirotor Unmanned Aerial Vehicle (UAV) with vertical takeoff and landing capabilities. The ASV provides the team with long-range transportation in all-weather conditions, whereas the UAV assures an augmented perception of the environment. The coordinated aerial, underwater, and surface level perception allows the team to assess navigation cost from the near field to the far field, which is key for safe navigation and environmental monitoring data gathering. The robotic system is validated on a set of field trials.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Number of pages8
Publication statusPublished - 2014
Event2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Bali, Indonesia
Duration: 5 Dec 201410 Dec 2014


Conference2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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