New Cooperative Control Strategies and Relative Localization Methods for a Smart ROV/USV Tethered System

The combination of a USV (Unmanned Surface Vehicle) and a cableconnectd ROV (Remotely Operated Vehicle) enables the execution of underwater missions over a significantly extended workspace. However, this configuration also introduces significant challenges related to motion synchronization between cable-connected robots and relative localization in underwater environments. This paper addresses these issues using dedicated following control algorithms relying on an innovative automatic Tether Management System (TMS) specifically developed for this application. The proposed autonomous ROV following modes allow the USV to adapt its behavior according to the ROV's trajectory during the mission, while effectively leveraging its mobility. In addition, the relative localization of the ROV with respect to the USV is made possible through the active management of the cable, which proves to be effective and paves the way for more advanced autonomous control strategies for both the ROV and the USV.