Please use this identifier to cite or link to this item:
http://repositorio.inesctec.pt/handle/123456789/5008
Title: | Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
Authors: | Nuno Cruz Bruno Miguel Ferreira Aníbal Matos |
Issue Date: | 2013 |
Abstract: | 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. |
URI: | http://repositorio.inesctec.pt/handle/123456789/5008 |
metadata.dc.type: | article Publication |
Appears in Collections: | CRIIS - Other Publications |
Files in This Item:
File | Description | Size | Format | |
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P-005-127.pdf | 981.59 kB | Adobe PDF | View/Open |
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