A Feedback Scheme for Missions Managing in Underwater Archeology

In the present paper, the formalization of a practical methodology for the cooperation, at various levels, of UUV and human operators in the exploration of underwater archaeological sites is presented. The approach proposed here is part of the work done in the framework of the EU Research Project VENUS in order to redesign the procedures for gathering archaeological data by exploiting beneficially the potential of cooperation between human operators and robotics devices, such as ROVs. The main innovative aspect of the proposed procedure is the on-line construction of mosaic 2D maps, which is used to implement a logic feedback loop in governing the survey process.