Acronym MAYASub
Funding Reference AdI (Agência de Desenvolvimento e Inovação) - POSI Program
Dates 2003|2007
Summary

The key objective of the project is to develop and demonstrate the performance of a small, modular, autonomous underwater vehicle (AUV) for scientific and commercial applications. Envisioned missions include geological and oceanographic surveys, marine biology studies, marine habitat mapping for environmental management, inspection of harbors and estuaries, and marine pollution assessment, to name but a few. Vehicle miniaturization will be achieved by resorting to small embedded processors, miniaturized sensors, and high performance actuators. Modularity will allow for easy vehicle reconfiguration according to different mission scenarios. Reduced weight will make it possible to launch and retrieve the vehicle by resorting to small ships of opportunity. The ultimate goal of the project is the development (by a Portuguese-Indian consortium) of two copies of a highly reliable mobile platform that will act as a natural extension of its support ship, effectively allowing an operator to probe the surrounding 3D environment from the comfort of his/her lab at sea.

Research Groups Computer and Robot Vision Lab (VisLab)
Dynamical Systems and Ocean Robotics Lab (DSOR)
Project Partners RINAVE (PT), IMAR/DOP/Univ. Azores (PT), National Institute of Oceanography (NIO), Dona Paula, Goa, India, System Technologies (ST), Ulverston, UK
ISR/IST Responsible
António Pascoal
[1] Havard Bo, Hydrodynamic Estimation and Identification, Master Thesis, Department of Engineering Cybernetics/NTNU, Trondheim, Norway and Instituto Superior Tecnico/ISR, Lisbon, Portugal, 2004
[2] Christian Skaar, Coordination Motion Control, Master Thesis, Department of Engineering Cybernetics/NTNU, Trondheim, Norway and Instituto Superior Tecnico/ISR, Lisbon, Portugal, 2004
[3] Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an EKF GIB-based Underwater Positioning System, Proc. of CAMS 2004 - IFAC Conference on Control Applications in Marine Systems, Ancona, Italy, 2004 - PDF
[4] Ettore Barros, António Pascoal, E. de Sa, AUV Dynamics: Modelling and Parameter Estimation Using Analytical, Semi Empirical, and CFD Methods, Proc. IFAC Conference on Control Applications in Marine Systems, CAMS04, Ancona, Italy, 2004
[5] G. Indiveri, António Pascoal, A Switching Path Following Guidance Control Law for an Underactuated Marine Vehicle, Proc. IFAC Conference on Control Applications in Marine Systems, CAMS04, Ancona, Italy, 2004
[6] Alex Alcocer, Paulo Oliveira, António Pascoal, Outlier Detection in an Acoustic-based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2004
[7] Ettore Barros, António Pascoal, Estimation of the Hydrodynamic Derivatives of the MAYA-AUV using Analytical and Semi-Empirical Methods, DSORL-ISR Technical Report, 2004
[8] Danilo Carvalho, António Pascoal, Study of a Path Following Systems for a Fully Actuated Underwater Vehicle, Joint DSORL-ISR/UFES Technical Report, 2004
[9] Sajjad Fekri, Robust Adaptive MIMO Control using Multiple-Model Hypothesis Testing and Mixed µ-Synthesis, DSORL-ISR Technical Report, 2004
[10] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, Coordinated Path Following Control using Linearization Techniques, DSORL-ISR Technical Report, 2004
[11] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, Coordinated Path Following Control using Nonlinear Techniques, DSORL-ISR Technical Report, 2004
[12] Paulo Oliveira, Terrain based Navigation Tools for Underwater Vehicles using Eigen Analysis, ISR Technical Report, 2004
[13] Francisco Curado, António Pascoal, AUV Terrain Aided Navigation using Particle Filters, DSORL-ISR Technical Report, 2004
[14] António Pascoal, Carlos Silvestre, Control of the INFANTE AUV Using Gain Scheduled Static Output Feedback, Proc. GCUV 2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003
[15] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following Control of Autonomous Underwater Vehicles, Proc. GCUV 2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003
[16] Paulo Oliveira, António Pascoal, On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Proc. IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003
[17] L. Lapierre, D. Soetanto, António Pascoal, Coordinated Motion Control of Marine Robots, Proc. MCMC 2003 - 6th IFAC Conference on Manoeuvering and Control of Marine Craft, Girona, Spain, 2003
[18] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following with Applications to the Control of Autonomous Underwater Vehicles, Proc. CDC2003 - 42nd IEEE Conference on Decision and Control, Hawai, USA, 2003
[19] Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2003
[20] João Alves, Carlos Silvestre, A Reliable Datagram Protocol for Distributed Vehicular Aplications, DSORL-ISR Technical Report, 2003
[21] E. Barros, António Pascoal, AUV Dynamics: Modeling and Parameter Estimation using Analytical and Semi-Empirical Methods, DSORL-ISR Technical Report, 2003
[22] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Coordinated Path Following Control of Multiple Marine Vehicles, DSORL-ISR Technical Report, 2003
[23] Rodolfo Oliveira, Carlos Silvestre, Petri Net based Supervision Techniques for the Design of Mission Control Systems for Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[24] Rodolfo Oliveira, Carlos Silvestre, A Mission Programming Environment for Multiple Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[25] Francisco Curado, Concurrent Mapping and Localization using Geophysical Navigation with application to the navigation of an Autonomous Underwater Vehicle – Part 1 : Geophysical Navigation, Report INGMARDEP 07/FCT/2003 , 2003
[26] Francisco Curado, Concurrent Mapping and Localization using Geophysical Navigation with application to the navigation of an Autonomous Underwater Vehicle – Part 2 : Concurrent Mapping and Localization, Report INGMARDEP 08/FCT/2003 , 2003