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

2. 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

3. 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

4. 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

5. 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

6. 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

7. 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

8. 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

9. Forward Plan
Technical Plan 9

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