This National Science Foundation (NSF) award under the Engineering program (CFDA 47.041) provides $195,492 to Louisiana State University (LSU) over a 5-year period from June 2024 to May 2029. The overarching goal of this project is to design autonomous underwater vehicle-manipulator systems (UVMS) that are robust and reliable in responding to unforeseen events, as observed through dynamic vision sensors. The key objectives are to: 1) create novel physics-based and data-driven dynamic models with uncertainty quantification for analyzing lightweight multi-body UVMS in ocean flows; 2) establish new probabilistic model-based control theories for UVMS with uncertainties, disturbances, and multi-physics characteristics; and 3) develop education and outreach activities on underwater robotics for college, K-12, and the general public. This project aims to advance the autonomy capabilities of lightweight UVMS and demonstrate their value for ocean exploration. No subawards are planned under this grant.
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