Key points are not available for this paper at this time.
The Monterey Bay Aquarium Research Institute (MBARI, Moss Landing, CA) has developed a 54-cm-diameter (21-in) docking AUV and companion docking station. This program resulted in four consecutive successful autonomous homing and docking events in the open ocean, which included downloading data, uploading a new mission plan, recharging the battery, and complete power cycling of the AUV. We describe the design, simulation, and at-sea test of the homing and docking control system.
McEwen et al. (Wed,) studied this question.