Mid Term Review Andreas J. Häusler FREEsubNET MCRTN-CT-2006-036186 1

Country of Origin: Germany Host Organisation: IST Lisbon Andreas Häusler Country of Origin: Germany Host Organisation: IST Lisbon Start Date: August 1st, 2007 Project Title: Cooperative Navigation and Motion Control of Multiple Autonomous Marine Vehicles Contribution to Network: FSN Tasks 1.0, 1.1, 1.2, 5.1, 5.2 2

Publications: 6 Internal Reports, Seminar Talks Achievements to date Publications: 6 Internal Reports, Seminar Talks Workshops & conferences: NGCUV ‘08 Participation in tests: GREX Azores ‘08 Secondments: NTNU Norway, Fall ‘09 Training: Lectures on Dynamical Linear and Non-Linear Systems and Optimization, Seminars on current topics of research 3

Multiple vehicle missions require the vehicles to be in formation Technical Summary The Problem Multiple vehicle missions require the vehicles to be in formation An initial formation has to be established before the mission starts Vehicles cannot be deployed in formation Need to get the vehicles into initial formation Most vehicles are underactuated and lack hovering capabilities No station keeping at deployment time, no station keeping after vehicles reach mission start positions Mission has to start on-the-fly Vehicles should automatically be driven from deployment to mission start Research Vessel 4

Simultaneous arrival at designated positions and orientations Technical Summary The solution Simultaneous arrival at designated positions and orientations Rigorous solution based on optimization techniques and a new polynomial path parametrization: Avoid collisions until mission control takes over Consider time, energy and vehicle constraints 5

Coordinated Target Tracking Moving Target Sonar, GPS, acoustic data Leading pursuer Cooperative Path Following Data Smoothing The moving target can be basically anything (whale, Águas Vivas, glider, another Delfim) Path Sequence Path Fitting

Related Work within FREEsubNET Technical Summary Related Work within FREEsubNET How do we deal with “deviations from the plan”? (wind, currents, etc.) Use cooperative path following! (Methods are available – IST, NTNU) First Results (see the video) LINK TO THE VIDEO 7

Work with other members of the Network (ToK) Yana Lizunkova (UWTH) Collaborative work Work with other members of the Network (ToK) Yana Lizunkova (UWTH) Mara Schmiing (IMAR) Mernout Burger (NTNU) Francesco Orsenigo (HCMR) Fausto Ferreira (CNR) Work with other institutions NTNU: Developing Algorithms on Path Planning and Path Following IMAR: GREX Azores ‘08 Sea Trials With Yana: Transfer of Knowledge FREEsubNET deliverables, e.g. newsletters, short description, presentations With Mara: GREX sea trials Açores, Newsletter article With Mernout: Joint presentations, plan to integrate our work, “he follows the paths I generate”, secondment fixed With Francesco: Joint work on WP1 summary and presentation With Fausto: introduction to FREEsubNET, plan for a secondment 8

Forward Plan Technical Plan 9

Forward Plan Collaborative Plan Of course by far not complete. 10