This paper presents the main results of the European H2020 WiMUST project, whose aim was the development of a system of cooperative autonomous underwater vehicles and autonomous surface vehicles for geotechnical surveying. In particular, insights on the overall robotic technologies and methodologies employed, ranging from the communications and navigation framework to the cooperative and coordinated control solutions are given. The software architecture and the lessons learnt from the preliminary field test are also discussed. Finally, field results of the final survey campaign carried out in the Atlantic Ocean are presented, demonstrating how a team of seven robots could autonomously conduct a geotechnical survey, producing seismic images without artifacts.

中文翻译：

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WiMUST：用于自主岩土勘测的合作海洋机器人系统

本文介绍了欧洲H2020 WiMUST项目的主要成果，该项目的目的是开发用于岩土工程勘测的协作式自主水下航行器和自主地面车辆的系统。特别是，给出了有关所采用的总体机器人技术和方法的见解，范围从通信和导航框架到协作和协调控制解决方案。还讨论了软件架构和从初步现场测试中学到的经验教训。最后，介绍了在大西洋进行的最终勘测活动的现场结果，展示了由七个机器人组成的团队如何自主进行岩土勘测，从而产生没有伪影的地震图像。