Acronym CARAVELA
Funding Reference Programmes PRAXIS XXI (PT) and EUREKA (Commission of the European Communities)
Dates 1998|2003
Summary

The objectives of the project are to design, develop, and test the systems that are required for the operation of a long range autonomous oceanographic vessel. This is an innovative concept worldwide. The project addresses a wide range of issues that include: i) vehicle design, ii) propulsion, iii) communications, iv) obstacle detection and avoidance, v) navigation, and v) advanced systems for vehicle and mission control. In a representative mission scenario the vehicle will be required to traverse a specified area and collect and transmit selected oceanographic data to a support unit. The vehicle can be operated in a fully autonomous mode. However, its mission can be changed via high level commands issued from a laboratory installed on shore. The project partners include the Portuguese companies RINAVE and CONAFI in charge of naval engineering aspects and vehicle construction, respectively. These companies are expected to promote the utilization of the vehicle by scientific and commercial entities, and to explore the possibility of its commercialization.

Research Groups Dynamical Systems and Ocean Robotics Lab (DSOR)
Project Partners RINAVE Registro Internacional Naval (PT), Instituto Superior Tecnico / Institute for Systems and Robotics (PT), CONAFI (PT), System Technologies (UK), SIMRAD (NO)
ISR/IST Responsible
António Pascoal
People
João Alves
Paulo Oliveira
Rita Cunha
Luís Sebastião
Carlos Silvestre
Manuel Rufino
[1] P. Encarnacao, António Pascoal, Combined Trajectory Tracking and Path Following for Underwater Vehicles, Proc. IFAC Conference CAMS´2001, Control Applications in Marine Systems, Glasgow, Scotland, 2001
[2] P. Encarnacao, António Pascoal, Combined Trajectory Tracking and Path Following for Marine Vehicles, Proc. 9th Mediterranean Conference on Control and Automation”, Dubrovnik, Croatia, 2001
[3] P. Encarnacao, António Pascoal, Combined Trajectory Tracking and Path Following: an Application to the Coordinated Control of Autonomous Marine Craft, Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, 2001
[4] Pedro Encarnacao, Nonlinear Path Following Control Systems for Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002
[5] Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
[6] Rodolfo Oliveira, Mission Control for Autonomous Vehicles, DSORL-ISR Technical Report, 2002
[7] Rita Cunha, Carlos Silvestre, António Pascoal, A Path Following Controller for Model-Scale Helicopters, DSORL-ISR Technical Report, 2002