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This paper presents BEA (Buoy Eau Air), an innovative multi-unmanned vehicle system to address the issue of marine traffic endangering scuba diving and free diving. Scuba diving is a popular recreational activity with over 6 million active participants worldwide. Boat drivers may fail to recognize universal markers due to a variety of factors, such as inattention, unfamiliarity with dive zones, or poor visibility. In addition, some boat drivers may deliberately speed too close to dive zones, unaware of the dangers they pose to divers. This risk is particularly pronounced in popular dive destinations like Malta, where boat traffic can be heavy. Divers in these areas are often more vulnerable to collisions. To mitigate these risks, the proposed system consists of an Unmanned Aerial Vehicle (UAV), an Unmanned Surface Vehicle (USV), and an Unmanned Underwater Vehicle (UUV), which work in synergy to monitor and protect divers. The UAV monitors the surface of the sea near the dive zone for any traffic, while the USV tracks the UUV, communicates with the other unmanned vehicles, and provides a takeoff/landing surface for the UAV. The USV can also be used to tow divers and equipment to and from the shore. Finally, the UUV tracks the diver and warns them if it is unsafe to surface. The paper provides an overview of the system’s design and architecture, as well as algorithms for boat detection, precision landing, and UUV tracking. Preliminary tests on a prototype have shown that the system is suitable for the intended application. The BEA system is the first in the world to use a multi-drone system to create a geo-fence around the diver and monitor the area within it. This has the potential to significantly improve diver safety with real-time alerts, providing also assistance with navigation, towing of divers and emergency response. |
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