Proceedings ArticleDOI
SWORDFISH: an Autonomous Surface Vehicle for Network Centric Operations
Hugo Ferreira,Ricardo Martins,Eduardo R. B. Marques,Jose Pinto,Alfredo Martins,José Almeida,João Borges de Sousa,Eduardo Silva +7 more
- pp 1-6
TLDR
In this paper, the design and development of the swordfish autonomous surface vehicle (ASV) system is discussed, which is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators).Abstract:
The design and development of the swordfish autonomous surface vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).read more
Citations
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Journal ArticleDOI
Unmanned surface vehicles: An overview of developments and challenges
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
Proceedings ArticleDOI
Unmanned surface vehicles, 15 years of development
TL;DR: In this article, the authors provide a review of the field of unmanned surface vehicles (USVs) and autonomous surface craft (ASCs). And they discuss the enabling technologies that have allowed USVs to emerge as a viable platform for marine operations.
Proceedings ArticleDOI
Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle
Hugo Ferreira,Carlos Almeida,Alfredo Martins,José Almeida,Nuno Dias,André Dias,Eduardo Silva +6 more
TL;DR: In this article, the use of robotic systems for risk assessment is validated through several missions performed either in river scenario (in very shallow water conditions) and in marine coastlines, where the ROAZ is an ocean capable catamaran.
Journal ArticleDOI
A study on cyber-security of autonomous and unmanned vehicles
TL;DR: In this study, autonomous and unmanned vehicle systems are examined for their cyber-security vulnerabilities and threats and attacks exploiting these vulnerabilities are identified and classified.
Proceedings ArticleDOI
IMC: A communication protocol for networked vehicles and sensors
Ricardo Martins,Paulo Sousa Dias,Eduardo R. B. Marques,Jose Pinto,João Borges de Sousa,Fernando Lobo Pereira +5 more
TL;DR: The Inter-Module Communication protocol is presented, a message-oriented protocol designed and implemented in the Underwater Systems and Technology Laboratory (LSTS) to build interconnected systems of vehicles, sensors and human operators that are able to pursue common goals cooperatively by exchanging real-time information about the environment and updated objectives.
References
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Proceedings ArticleDOI
Vehicle and Mission Control of the DELFIM Autonomous Surface Craft
Joao Alves,Paulo Oliveira,Rodolfo Oliveira,Antonio M. Pascoal,Manuel Rufino,L. Sebastiao,Carlos Silvestre +6 more
TL;DR: The navigation, guidance, and control systems of the vehicle, together with the mission control system that allows end-users to seamlessly program and run scientific missions at sea are described.
Proceedings ArticleDOI
Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
Alfredo Martins,José Almeida,Hugo Ferreira,Hugo Silva,Nuno Dias,André Dias,Carlos Almeida,Eduardo Silva +7 more
TL;DR: The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented.
Proceedings ArticleDOI
AUV Control and Communication using Underwater Acoustic Networks
Eduardo R. B. Marques,Jose Pinto,Sean Kragelund,Paulo Sousa Dias,Luis Madureira,Armando Sousa,Miguel V. Correia,H. Ferreira,Rui Gonçalves,Ricardo Martins,D. P. Horner,Anthony J. Healey,Gil Gonçalves,João Borges de Sousa +13 more
TL;DR: A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are described for single and multi-AUV operation.
Proceedings ArticleDOI
Coordinated maneuver for gradient search using multiple AUVs
TL;DR: In this article, an integrated acoustic navigation system and coordination control maneuver for a formation of 3 AUVs and 1 surface craft to gradient search and following missions is proposed, which can operate in three modes depending on formation distances.
Proceedings ArticleDOI
A new ROV design: issues on low drag and mechanical symmetry
R.M.F. Gomes,Alfredo Martins,Alexandre Sousa,João Borges de Sousa,S.L. Fraga,Fernando Lobo Pereira +5 more
TL;DR: In this paper, the design of a new remotely operated underwater vehicle (ROV), which has been developed at the Underwater Systems and Technology Laboratory (USTL) - University of Porto, is discussed.