Abstract
The goal of this thesis, in collaboration with a biologists team of Marbec, is to develop a semi-autonomous robotic system for marine species observation. For this, this system will have to perform the known biologist protocols as well as new protocols while proving its effectiveness compared to a diver. To achieve the protocols, we have developed the associated control laws and a mission management system to allow the construction, the formal validation and the execution of a mission. Finally, to answer the problem of feasibility of observation by a robot, we conducted the experiments in Mayotte.