# A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions
## 4 Use of USVs in Environmental Disasters with Contaminants
### Chemical Hazards
#### 4.1.1 Oil Spill Detection and Monitoring
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Task** & **Reference** & **Year** & **USV Name** & **USV Type** & **Test Location** \\ \hline \multirow{4}{*}{Detection} & [102; 103] & 2011 & HydroNet & Twin-hull catamaran & Livorno, Italy \\  & [104] & 2012 & ASV-Victoria & Twin-hull catamaran & Louisiana, USA \\  & [105] & 2016 & _NR_ & _NR_ & _NR_ \\  & [106] & 2017 & HydroNet & Twin-hull catamaran & Livorno, Italy \\ \hline \multirow{4}{*}{Monitoring} & [94] & 2013 & _NR_ & Wave glider & Gulf of Mexico \\  & [107] & 2015 & _NR_ & Buoy & Biograd na Moru, Croatia \\  & [101] & 2016 & BUSCAMOS-Oil & Monhull vessel & Cartagena, Spain \\  & [108] & 2016 & C-Enduro/C-Worker & Twin-hull/Monohull & Gulf of Mexico \\  & [93] & 2017 & PlaDyPos & Buoy & Cartagena, Spain \\ \hline \multirow{4}{*}{Tracking} & [109; 110] & 2012 & SOTAB-II & Buoys & _NR_ \\  & [111; 112] & 2012 & SOTAB-II & Buoys & Osaka Bay, Japan \\  & [113; 114] & 2015 & SOTAB-II & Yacht-shaped & Kobe, Japan \\  & [115] & 2015 & _NR_ & Twin-hull catamaran & Simulator \\  & [116] & 2017 & _NR_ & Monhull vessel & Simulator \\  & [117] & 2017 & _NR_ & Twin-hull catamaran & Oahu, Hawaii \\ \hline \multirow{4}{*}{Caging} & [118; 119] & 2010 & USC RESL & Monhull vessel & Los Angeles, USA \\  & [120] & 2011 & USC RESL & Monhull vessel & Los Angeles, USA \\  & [121] & 2011 & _NR_ & Monhull vessel & _NR_ \\  & [95] & 2012 & _NR_ & Containment boom & _NR_ \\ \hline \multirow{4}{*}{Removing} & [122] & 2007 & EU-MOP & Monocat and catamaran & _NR_ \\  & [123] & 2008 & EU-MOP & Monocat and catamaran & _NR_ \\ \cline{1-1}  & [124; 125] & 2015 & _NR_ & Scaled Zodiac & Madrid, Spain \\ \cline{1-1}  & [126] & 2015 & PUS & Monhull vessel & _NR_ \\ \cline{1-1}  & [127] & 2016 & HaiTeng 01 & Monhull vessel & Shenzhen Bay, China \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Characteristics of work related to chemical hazards grouped by task, where “NR” stands for “Not Reported”. perform oil spill monitoring using a multivehicle system based on a USV combined with a UUV named BUSCAMO-Oil. The two vehicles are connected by a cable, allowing them to share hardware and software. Each vehicle is equipped with a C3 submersible fluorometer with three optical sensors to detect crude oil, refined fuel, and rhodamine. In this system, while the USV creates a map of the extent of the oil spill on the surface, the UUV creates a map of its extent in depth. Thus, the system can draw a precise map of the oil plume, adding information on spill location, volume, extent, direction, and speed. [PERSON] et al. [93; 107] use a heterogeneous robotic system composed of UUVs, USVs, and UAVs to deliver timely information on sub-surface hydrocarbon concentration. In this system, UUVs measure the hydrocarbon concentration while a UAV does an initial survey over a wide area and a USV performs the acoustic localization of underwater agents. Moreover, USVs and UAVs sense the surface and serve as communication links to make the collected data available in real time to a remote ground station. Tests involving control and localization were performed in Biograd na Moru, Croatia and Cartagena, Spain, where the Platform for Dynamic Positioning (PlaDyPos) USV was used to correct underwater positioning of the Light Autonomous Underwater one-man-portable Vehicle, LAUV-LUPIS. [PERSON] et al. [105] describe the overall scheme of USV-based laser fluorosensor system for oil detection, which consists of a shore-based terminal and a laser fluorosensor mounted on a USV. The laser fluorosensor system sends the collected data to the shore-based terminal by wireless communication. Tests with the laser fluorosensor were performed in a river to measure different targets, such as river water and oil. A BP/GoMRI-sponsored project was started to investigate the feasibility of using Passive Acoustic Monitoring (PAM) and USVs to help in the estimation of water-life damage after environmental disasters. In that project, [PERSON] et al.