CRIIS - Other Publications

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Browsing CRIIS - Other Publications by Author "Aníbal Matos"
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    Fast 3D Map Matching Localisation Algorithm
    ( 2013) Pinto,M ; António Paulo Moreira ; Aníbal Matos ; Héber Miguel Sobreira ; Filipe Neves Santos
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    Investigation of Underwater Acoustic Networking Enabling the Cooperative Operation of Multiple Heterogeneous Vehicles
    ( 2013) Nuno Cruz ; Bruno Miguel Ferreira ; Kebkal,O ; Aníbal Matos ; Petrioli,C ; Petroccia,R ; Spaccini,D
    In this paper, we investigate the creation of an underwater acoustic network to support marine operations based on static and mobile nodes. Each underwater device combines communication, networking, and sensing capabilities and cooperates with the other devices in coordinated missions. The proposed system is built upon the SUNSET framework, providing acoustic communications and networking capabilities to autonomous underwater vehicles, autonomous surface vessels, and moored systems, using underwater acoustic modems. Specific solutions have been developed and tested to control the underwater nodes acoustically and to instruct the vehicles on keeping a given formation using acoustic links. One of the novelties of our approach has been the development and utilization of a realistic simulation infrastructure to provide a very accurate representation of all the dynamic systems involved in the network, modeling the vehicle dynamics, the acoustic channel, and the communication messages. This infrastructure has been extensively used to investigate and validate the proposed solutions under different environmental conditions before the actual deployment of devices. Several experiments were then conducted in the laboratory and in the field. The experimental results have confirmed the effectiveness of the proposed solutions and the reliability of the proposed simulation framework in estimating system performance.
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    Lecture Notes in Electrical Engineering: Preface
    ( 2015) António Paulo Moreira ; Aníbal Matos ; Germano Veiga
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    Modular Building Blocks for the Development of AUVs - from MARES to TriMARES
    ( 2013) Nuno Cruz ; Aníbal Matos ; Bruno Miguel Ferreira
    The design of an Autonomous Underwater Vehicle (AUV) is governed by a complex tradeoff between mission performance and required payload sensors, and taking into account possible constraints in fabrication, assembly and operational logistics. On a commercial level, the technology is relatively mature, with several companies offering off-the-shelf AUV solutions in a wide range of sizes and performance levels, for a wide variety of operational scenarios. However, to ensure proper performance in specific applications, such broad-range systems require factory customization, with the consequent impact in time and cost. This paper describes a program for the development of underwater vehicles based on modular building blocks. In this case, modularity encompasses both physical parts and also software and control systems. These modules can be rearranged, replaced or individually redesigned to yield a great variety of AUV configurations in a relatively short time. The paper describes the development of MARES, a small hovering AUV, and also TriMARES, a custom 3-body hybrid AUV/ROV, built from the same modules in little over 6 months.
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    Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation
    ( 2013) Nuno Cruz ; Bruno Miguel Ferreira ; Aníbal Matos
    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.
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    Self-localisation of indoor mobile robots using multi-hypotheses and a matching algorithm
    ( 2013) Pinto,M ; Héber Miguel Sobreira ; António Paulo Moreira ; Hélio Mendonça ; Aníbal Matos
    This paper proposes a new, fast and computationally light weight methodology to pinpoint a robot in a structured scenario. The localisation algorithm performs a tracking routine to pinpoint the robot's pose as it moves in a known map, without the need for preparing the environment, with artificial landmarks or beacons. To perform such tracking routine, it is necessary to know the initial position of the vehicle. This paper describes the tracking routine and presents a solution to pinpoint that initial position in an autonomous way, using a multi-hypotheses strategy. This paper presents experimental results on the performance of the proposed method applied in two different scenarios: (1) in the Middle Size Soccer Robotic League (MSL), using artificial vision data from an omnidirectional robot and (2) in indoor environments using 3D data from a tilting Laser Range Finder of a differential drive robot (called RobVigil). This paper presents results comparing the proposed methodology and an Industrial Positioning System (the Sick NAV350), commonly used to locate Autonomous Guided Vehicles (AGVs) with a high degree of accuracy in industrial environments.