IRES: Intelligent Search and Mapping of Submerged Cultural Heritage Ancient Shipwrecks using Autonomous Underwater Vehicles

Harvey Mudd College, Claremont CA

Investigators

Abstract

This International Research Experiences for Students (IRES) project aims to develop an Autonomous Underwater Vehicles (AUV) system for intelligent shipwreck search, mapping and visualization. The proposed system will improve on current approaches to marine archeology, and in doing so develop novel techniques that can be applied to a general class of robot exploration tasks. First, an investigation will be launched into probabilistic algorithms that identify regions of high likelihood of containing unexplored shipwrecks that offline and online AUV planning algorithms can use to maximize information gain when searching for wrecks. Second, the development of visualization techniques dedicated to surface reconstruction that merge side scanning sonar and stereo image disparity maps while incorporating volume visualizations of marine site science data. Third, and finally, these techniques will be applied in actual AUV shipwreck search experiments in previously unexplored and under-explored areas of the Mediterranean. The robotic exploration technology developed in this project will be applicable to a wide range of applications in archaeology, oceanography, biology, homeland security, and defense. The Principal Investigators and student participants will disseminate research findings via publications and professional conferences, and to local community members and public internet portal. A digital archive of sites will be created for the archeological community. This project aims to use the research findings to introduce these robotic technologies to a broad audience including elementary school children in both the US and Malta, and especially to groups typically underrepresented in computer science and engineering. As part of the project, robotics workshops will be run at elementary schools located in Malta and Sicily.