Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation

• Type: Article in International Scientific Journal
• Date: 2013

Authors

Nuno A Cruz (Author) FEUP; Bruno M Ferreira (Author) Other; Anibal C Matos (Author) FEUP

Journal

Title: Sea Technology

Vol. 54

Pages: 37-40

ISSN: 0093-3651

Publisher: COMPASS PUBLICATIONS, INC

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Scientific classification

FOS: Engineering and technology > Environmental engineering

Other information

Authenticus ID: P-005-127

Abstract (EN): The MARES is a small, torpedo-shaped AUV 1.5 meters long and 32 kilograms in weight in the basic version. In a typical configuration, a PC/104 computational system manages the entire mission, including communications with other devices and a control station. Navigation is provided by the fusion of data from an inertial measurement unit (IMU) and an acoustic system for long baseline localization (LBL), complemented by a small GPS receiver, when the vehicle is at the surface. Four thrusters provide the capability to move as fast as 5 knots and to hover in the water column, with a set of lithium-ion batteries ensuring 10 hours of operation. MARES is a highly modular vehicle, with the ability to integrate a great variety of payload sensors, and it has been operating since 2007, mainly in environmental- monitoring missions. The capability of vehicles to follow a given trajectory and maintain reliable data exchange is among the most relevant topics when it comes to coordination of marine robots.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4