Formation Control in the scope of the MORPH project. Part I: Theoretical Foundations

Abreu, Pedro; Pascoal, António

doi:10.1016/j.ifacol.2015.06.040

Cited by 20 publications

(7 citation statements)

References 3 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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“…See also [11], [12] for relevant related work in the scope of the EC MORPH project. From an implementation standpoint, the general scheme adopted to run a Leader Tracking maneuver can be explained by referring to the block diagrams in Figures 2 and 3 that illustrate the navigation, control, and informationflow architectures adopted.…”

Section: Leader Tracking System: Design Frameworkmentioning

confidence: 99%

Cooperative control and navigation in the scope of the EC CADDY project

Abreu

Bayat

Botelho

et al. 2015

OCEANS 2015 - Genova

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Cognitive Autonomous Diving Buddy (CADDY) is an FP7 project initiated in February 2014.The key objectives of the project are to develop, implement, and demonstrate in the course of missions at sea the efficacy of a number of innovative systems to assist human divers during the execution of demanding scientific and commercial activities in hazardous underwater environments. At the core of CADDY is the development of an underwater robot that plays the role of a buddy diver and a surface robot to improve guidance, monitoring, assistance, and safety of the diver's mission. The present paper gives a brief summary of the work done during the first year of the project towards the development and testing of the systems required for coordinated surface / underwater vehicle operations. We consider the cases where the leader is either the surface or the underwater vehicle. The architecture adopted for multiple vehicle coordination is described. Results of tests with the MEDUSA class of autonomous marine vehicles show the efficacy of the systems developed for navigation and coordinated motion control.

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Formation Control in the scope of the MORPH project. Part I: Theoretical Foundations

Cited by 20 publications

References 3 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

Cooperative control and navigation in the scope of the EC CADDY project

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