Acronym MAROV
Funding Reference FCT - PDCTM (Programa Dinamizador das Ciencias e Tecnologias do Mar)
Dates 2000|2004
Summary

This project puts forward the concept of marine habitat mapping using an autonomous surface vehicle (ASV) and an autonomous underwater vehicle (AUV) equipped with acoustic and vision systems. The ASV allows for the mapping of large areas of the seabed (albeit with low resolution) using acoustic sensors. Furthermore, it acts as an interface between the AUV and a support ship. The AUV is used for higher resolution acoustic mapping, ocean data acquisition, and video and photo image taking closer to the seabed. Data obtained by the two vehicles and other complementary classical sources (for example, divers or towed systems) will be geo-referenced, analyzed by marine geologists and biologists, and processed to generate composites of benthic ecosystems using a Geographic Information System (GIS). The project brings together marine science and technology and aims at building habitat maps in marine reserve areas around the islands of Pico and Faial in the Azores.

Research Groups Computer and Robot Vision Lab (VisLab)
Dynamical Systems and Ocean Robotics Lab (DSOR)
Project Partners IMAR and Department of Oceanography and Fisheries, Univ. Azores, IGM Geological Survey of Portugal
ISR/IST Responsible
António Pascoal
[1] Carlos Silvestre, António Pascoal, Control of the Infante AUV using Gain-Scheduled Static Output Feedback, IFAC Journal Control Engineering Practice, Vol. 12, pp. 1501-1509, 2004
[2] 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
[3] Alex Alcocer, Paulo Oliveira, António Pascoal, Outlier Detection in an Acoustic-based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2004
[4] Danilo Carvalho, António Pascoal, Study of a Path Following Systems for a Fully Actuated Underwater Vehicle, Joint DSORL-ISR/UFES Technical Report, 2004
[5] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, Coordinated Path Following Control using Linearization Techniques, DSORL-ISR Technical Report, 2004
[6] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, Coordinated Path Following Control using Nonlinear Techniques, DSORL-ISR Technical Report, 2004
[7] 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
[8] M. Aicardi, G. Casalino, G. Indiveri, A. Aguiar, P. Encarnacao, António Pascoal, A Planar Path Following Controller for Underactuated Marine Vehicles, Proc. 9th Mediterranean Conference on Control and Automation”, Dubrovnik, Croatia, 2001
[9] Paulo Oliveira, António Pascoal, Periodic and Multirate Filter Design using LMIs, DSORL-ISR Technical Report. To be submitted for publication, 2001
[10] M. Prado, Carlos Silvestre, António Pascoal, A Model for the DELFIM Autonomous Surface Craft: from Physical Principles to MATLAB Code, DSORL-ISR Technical Report, 2001
[11] Pedro Encarnacao, Nonlinear Path Following Control Systems for Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002
[12] António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002
[13] Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
[14] Carlos Silvestre, António Pascoal, I. Kaminer, On the Design of Gain-Scheduled Trajectory Tracking Controllers, International Journal of Robust and Nonlinear Control, 12:797-839, 2002
[15] Paulo Oliveira, António Pascoal, I. Kaminer, A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002 - PDF
[16] A. Aguiar, António Pascoal, Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[17] A. Aguiar, António Pascoal, Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[18] A. Aguiar, António Pascoal, Practical Stabilization of the Extended Nonholonomic Double Integrator, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[19] A. Aguiar, António Pascoal, Global Stabilization of an Underactuated Autnomous Underwater Vehicle Via Logic-Based Switching, Submitted for presentation at the IEEE 2002 Conference on Decision and Control, USA, 2002
[20] António Pedro Aguiar, António Pascoal, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. IEEE Conference on Decision and Control, USA, 2002
[21] A. Aguiar, António Pascoal, Practical Stabilization of the ENDI Under Input Saturation Constraints via Logic-Based Hybrid Control, Submitted for presentation at the IEEE 2002 Conference on Decision and Control, USA, 2002
[22] P. Encarnacao, António Pascoal, Combined Trajectory Tracking and Path Following Control for Dynamic Wheeled Mobile Robots, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002
[23] A. Aguiar, António Pascoal, Global Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. IEEE Conference on Decision and Control, USA, 2002
[24] A. Aguiar, António Pascoal, Global Stabilization of an Underactuated AUV Via Logic-Based Hybrid Control, Proc. CONTROLO 2002 Conference, Aveiro, Portugal, 2002
[25] L. Lapierre, D. Soetanto, António Pascoal, Coordinated Motion Control of Marine Robots, DSORL-ISR Technical Report, 2002
[26] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following Control of Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2002
[27] Rodolfo Oliveira, Mission Control for Autonomous Vehicles, DSORL-ISR Technical Report, 2002
[28] João Alves, Paulo Oliveira, António Pascoal, Manuel Rufino, Luís Sebastião, Carlos Silvestre, Vehicle and Mission Control of the DELFIM Autonomous Surface Craft, DSORL-ISR Technical Report, 2002 - PDF
[29] Carlos Silvestre, António Pascoal, Control of the INFANTE AUV Using Gain Scheduled Static Output Feedback, DSORL-ISR Technical Report, 2002
[30] Paulo Oliveira, António Pascoal, On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), DSORL-ISR Technical Report, 2002
[31] Rodolfo Oliveira, Supervision and Mission Control of Autonomous Vehicles, Instituto Superior Tecnico, Portugal, 2003
[32] 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
[33] 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
[34] 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
[35] 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
[36] 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
[37] D. Soetanto, L. Lapierre, António Pascoal, Adaptive Nonsingular Path Following Control of Wheeled Robots, Proc. CDC2003 - 42nd IEEE Conference on Decision and Control, Hawai, USA, 2003
[38] R. Quartau, Francisco Curado, S. Bouriak, J. Monteiro, L. Pinheiro, Characterization of the continental shelf of Faial and Pico islands (Azores) using chirp echo character, Proc. 4th Symposium on the Iberian Atlantic Margin, Vigo, Spain, 2003
[39] R. Quartau, Francisco Curado, J. Monteiro, T. Cunha, L. Pinheiro, F. Cardigos, Sand resources on the continental shelf of Faial Island (Azores), Proc. 4th Symposium on the Iberian Atlantic Margin, Vigo, Spain, 2003
[40] Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2003
[41] João Alves, Carlos Silvestre, A Reliable Datagram Protocol for Distributed Vehicular Aplications, DSORL-ISR Technical Report, 2003
[42] P. Alves, Carlos Silvestre, Nonlinear Optimal 2D Radar Target Tracking Techniques, DSORL-ISR Technical Report, 2003
[43] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Coordinated Path Following Control of Multiple Marine Vehicles, DSORL-ISR Technical Report, 2003
[44] Rodolfo Oliveira, Carlos Silvestre, Petri Net based Supervision Techniques for the Design of Mission Control Systems for Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[45] Rodolfo Oliveira, Carlos Silvestre, A Mission Programming Environment for Multiple Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[46] 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
[47] 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