Roles in the project
TITLE: Cooperative Cognitive Control for Autonomous Underwater Vehicles
GOAL: Development, implementation and testing of advanced
cognitive techniques for coordination and cooperative control
of multiple AUVs.
Every used Folaga was equipped with a W.H.O.I. acoustic modem and its software architecture was enhanced for introducing the functionalities required for underwater communication and localization.
A new LBL-based localization algorithm has been developed, simulated and experimentally validated.
For monitoring the execution status of the team of vehicles, the original Folaga software GUI has been improved and a gateway buoy, equipped with a radio modem and an acoustic modem was realized and used for sending commands to the AUVs during the submerged phases of their mission.
Intense functional tests at CRME premises with a team of three vehicles were finally performed for validating all the above achievements.
For evidencing the developed cooperation capabilities, a harbour security scenario was considered as the final demonstrator and the related mission was successfully implemented and performed. Two AUVs, acting as sentinels, were in charge of cooperatively patrolling the area and reacted and intercepted the third one, once it suddenly entered in the scene, like an unauthorized intruder.