ROBUST project: Control Framework for Deep Sea Mining Exploration

This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed low altitude survey. Whenever a possible nodule is found, it performs an insitu measurement through laser induced spectroscopy. To do so, the underwater vehicle must first land on the seafloor, with a certain precision to allow a subsequent fixed-based manipulation, bringing its manipulator endowed with the laser system in the position to carry out the measurement. The work reports the developed control architecture and the simulation results supporting it.