Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation

• Tipo: Artigo em Revista Científica Internacional
• Data: 2013

Autores

Nuno A Cruz (Autor) FEUP; Bruno M Ferreira (Autor) Outra; Anibal C Matos (Autor) FEUP

Revista

Título: Sea Technology

Vol. 54

Páginas: 37-40

ISSN: 0093-3651

Editora: COMPASS PUBLICATIONS, INC

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 1 Citação

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia do ambiente

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 4