Autonomous movement of obsea underwater crawler for monitoring underwater environments

Authors

  • Ahmad Falahzadehabarghouee
  • Daniel Mihai Toma
  • Marc Nogueras Cervera
  • Enoc Martínez
  • Matias Carandell Widmer
  • Jacopo Aguzzi
  • Joaquín del Río Fernández

DOI:

https://doi.org/10.5821/iwp.2025.24.14002

Abstract

This paper presents the development and operational strategy of the OBSEA autonomous underwater crawler designed for continuous environmental monitoring. The crawler operates within a triangular configuration of three predefined objects in a laboratory environment. It performs sequential navigation and monitoring tasks by approaching each object in a looped pattern to ensure comprehensive environmental coverage. Due to Obsea autonomous underwater crawler tethered nature, the crawler adopts a bidirectional traversal method to prevent cable entanglement. Using this approach ensures efficient and uninterrupted monitoring of underwater ecosystems.

Downloads

    PDF

Published

2026-03-13

Issue

No. 24 (2025)

Section

Articles

License

Copyright (c) 2026 Ahmad Falahzadehabarghouee, Daniel Mihai Toma, Marc Nogueras Cervera, Enoc Martínez, Matias Carandell Widmer, Jacopo Aguzzi, Joaquín del Río Fernández

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Universitat Politècnica de Catalunya has joined the Berlin Declaration on Open Access to Knowledge in the Sciences and Humanities. This declaration proposes the universal acces to the results of scientific and technical research.

All papers presented at Martech will be published in both the UPCommons and the Martech organization web sites, the former being the institutional digital deposit of Universitat Politècnica de Catalunya (https://upcommons.upc.edu). This difussion will be made through the Creative Commons License Attribution-NonCommercial-NoDerivs 2.5 or similar (http://creativecommons.org/licenses/by-nc-nd/2.5/deed.en).

When sending the final paper, the author must agree to the conference having non-exclusive rights on this operation. The author will maintain his/her right to diffuse the paper elsewhere.