Formation Control in the scope of the MORPH project. Part II: Implementation and Results★

Abreu, Pedro; Bayat, Mohammadreza; Pascoal, António; Botelho, Joao; Góis, Pedro M. P.; Ribeiro, Jorge Tavares; Ribeiro, Miguel; Rufino, Marta M.; Sebastião, Luís; Silva, Henrique

doi:10.1016/j.ifacol.2015.06.041

Cited by 15 publications

(7 citation statements)

References 4 publications

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“…Precise navigation data for all vehicles are fundamental for a good reconstruction of the multi-vehicle optical mosaic [ 32 ]. The formation control was performed with acoustic ranging following the MORPH guidelines [ 33 , 34 ]. The light beacons were used as an experimental technology being field tested at the time.…”

Section: Resultsmentioning

confidence: 99%

Close-Range Tracking of Underwater Vehicles Using Light Beacons

Bosch

Gracias

Ridao

et al. 2016

Sensors

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This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.

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Section: Resultsmentioning

confidence: 99%

Close-Range Tracking of Underwater Vehicles Using Light Beacons

Bosch

Gracias

Ridao

et al. 2016

Sensors

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“…The target/trajectory tracking (TT) family of algorithms, described and analyzed formally in [12] and then applied to specific scenarios in [13] [14], resorts to a fundamentally different approach. The goal is for a single vehicle to follow a trajectory with an associated timing law, i.e.…”

Section: B Target/trajectory Trackingmentioning

confidence: 99%

The Widely scalable Mobile Underwater Sonar Technology (WiMUST) H2020 project: First year status

Antonelli

Caffaz

Casalino³

et al. 2016

OCEANS 2016 - Shanghai

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Abstract-The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper reports about the first year activities and it gives an overview of the main objectives and methods.

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“…Based on the above considerations, it appears natural to distinguish between weak cooperation and strict cooperation. Weak cooperation can be related to what is also required for coordinated motion of AUV teams used for non-manipulative applications, as in [9]- [12], and it is thus present at the beginning of the mission, during the navigation and the grasping phases. On the other hand, strict cooperation is necessary in the transportation phase, where the developed cooperation algorithm presented in [13], [14] is more demanding in terms of data update rate.…”

Section: The Maris Projectmentioning

confidence: 99%

“…From a qualitative point of view, tactical information of useful semantic significance, not intended to be used in a control loop but for mission supervision only, can be transmitted even every tens of seconds of even minutes [9], [10]. On the other hand, acoustic positioning informations for navigation [11] or formation control [12] purposes are typically delivered at a frequency of 0.1 − 1 Hz, and even higher communication rates can be necessary for more delicate tasks, such as the coordinate motion planned for the MARIS project described in the next section.…”

Section: Introductionmentioning

confidence: 99%

Underwater communication requirements in coordinated autonomous manipulation: The MARIS project

Fenucci

Caiti

Simetti

et al. 2016

2016 IEEE Third Underwater Communications and Networking Conference (UComms)

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This paper addresses the communication requirements needed within the MARIS project, which involves several Italian institutions. The goal of the MARIS project is to develop technologies for autonomous underwater interventions, in particular to enable two floating manipulators in executing joint grasping and transportation activities. In this context, communication issues are mainly related to the information exchange needed by the cooperation algorithms during all the phases of the mission, in particular in the coordinated transportation. Simulation results show the expected performances of the cooperative algorithm as the communication rate changes. Based on these results, a strategy to meet the requirements imposed by the cooperation and to achieve the mission objective with the available devices is presented

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Formation Control in the scope of the MORPH project. Part II: Implementation and Results★

Cited by 15 publications

References 4 publications

Close-Range Tracking of Underwater Vehicles Using Light Beacons

Close-Range Tracking of Underwater Vehicles Using Light Beacons

The Widely scalable Mobile Underwater Sonar Technology (WiMUST) H2020 project: First year status

Underwater communication requirements in coordinated autonomous manipulation: The MARIS project

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