Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation
Autor(a) principal: | |
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Data de Publicação: | 2013 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://repositorio.inesctec.pt/handle/123456789/5008 |
Resumo: | 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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Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle FormationThe 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.2017-12-27T23:43:50Z2013-01-01T00:00:00Z2013info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/5008engNuno CruzBruno Miguel FerreiraAníbal Matosinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:19:45Zoai:repositorio.inesctec.pt:123456789/5008Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:52:10.971747Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
title |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
spellingShingle |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation Nuno Cruz |
title_short |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
title_full |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
title_fullStr |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
title_full_unstemmed |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
title_sort |
Ocean Observation With Coordinated Robotic Platforms Coordination Algorithms Maintain Vehicle Formation |
author |
Nuno Cruz |
author_facet |
Nuno Cruz Bruno Miguel Ferreira Aníbal Matos |
author_role |
author |
author2 |
Bruno Miguel Ferreira Aníbal Matos |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
Nuno Cruz Bruno Miguel Ferreira Aníbal Matos |
description |
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. |
publishDate |
2013 |
dc.date.none.fl_str_mv |
2013-01-01T00:00:00Z 2013 2017-12-27T23:43:50Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.inesctec.pt/handle/123456789/5008 |
url |
http://repositorio.inesctec.pt/handle/123456789/5008 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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1799131598598176768 |