Cooperative formation control in the scope of the EC MORPH project: Theory and experiments

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

doi:10.1109/oceans-genova.2015.7271697

Cited by 19 publications

(10 citation statements)

References 3 publications

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“…This implies that for each time instant t there is a prescribed desired position for the vehicle, p d (t), and optionally other references such as desired heading and depth. The algorithm can then be naturally extended [14] to achieve geometric formations in multiple-vehicle missions by choosing the trajectory (including the spatial path and its associated timing law) for each vehicle appropriately for the desired geometry. Then, when all vehicles eventually converge to their own targets, the formation moves in a synchronized fashion and this desired geometry is maintained.…”

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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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

Self Cite

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show abstract

“…However, AUVs cannot directly acquire global navigation satellite system (GNSS) signals due to the strong attenuation of radio waves in water. Therefore, it is necessary to deploy base stations, such as ships, buoys, and autonomous vessels, on the sea surface [2][3][4][5]. However, it is not easy for sea-surface systems to follow AUVs because they drift due to disturbances such as waves and wind.…”

Section: Introductionmentioning

confidence: 99%

Underwater Communication Using UAVs to Realize High-Speed AUV Deployment

Yokota

Matsuda

2021

Remote Sensing

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To monitor ocean and seafloor properties in detail, sensors are generally installed on autonomous underwater vehicles (AUVs). An AUV cannot accurately determine its absolute position and needs to communicate with a sea-surface vehicle. However, sea-surface vehicles cannot perform high-speed observations with high efficiency due to their low mobility and high labor and equipment costs, e.g., vessel charter charges, operator restraint time on the sea surface during observations, etc. From this perspective, unmanned aerial vehicles (UAVs) have potential as the next-generation communication platform. In this study, we conducted a demonstration experiment to use UAV as a sea-surface base for underwater communication with an AUV. We investigated the capability of a UAV to land on the sea surface, drift like a buoy to receive underwater data, and finally lift off to return to its base. The experimental results suggest that UAVs provide suitable communication performance for research near the shore in terms of robust hovering control, stability against sway, and operation speed. To carry out more complicated work (such as transportation) of UAVs, further research in areas such as weight reduction is required.

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“…AUVs cannot directly acquire Global Navigation Satellite System (GNSS) signals due to the rapid attenuation of radio waves in the water. Therefore, it is necessary to deploy base stations such as ships, buoys, and autonomous vessels on the sea surface [1][2][3][4]. However, it is not easy for sea-surface systems to follow AUVs because they are drifted by disturbances such as waves and winds.…”

Section: Introductionmentioning

confidence: 99%

Underwater Communication Using UAV to Realize High-speed AUV Deployment

Yokota¹,

Matsuda²

2021

Preprint

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To monitor the detail information in the sea and on the seafloor, sensors are generally installed on Autonomous Underwater Vehicle (AUV). AUV cannot accurately grasp the absolute position and needs to communicate with the sea-surface vehicle. However, the sea-surface vehicle cannot perform observation operations at high speed and with high efficiency due to low mobility and high human and financial costs. From this perspective, Unmanned Aerial Vehicle (UAV) has possibilities as the next-generation platform. In this study, we conducted a demonstration experiment to use UAV as a sea-surface base for AUV’s underwater communication. We additionally verified the capability of UAV, which can land on and separate from the sea surface, as a drifting buoy to monitor underwater data. Experiment results and obtained data suggest that UAV is suitable for a research operation near the coastal region in terms of position keeping ability, performance against sway, and operation speed as a communication base. To carry out more complicated work (transportation of AUV, etc.) with UAV, new research and development such as weight reduction of AUV will be required.

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Cooperative formation control in the scope of the EC MORPH project: Theory and experiments

Cited by 19 publications

References 3 publications

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

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

Underwater Communication Using UAVs to Realize High-Speed AUV Deployment

Underwater Communication Using UAV to Realize High-speed AUV Deployment

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