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Co3 AUVs

Project reference: 231378
Funded under

Cooperative Cognitive Control for Autonomous Underwater Vehicles

From 2009-02-01 to 2012-01-31

Project details

Total cost:

EUR 3 332 029

EU contribution:

EUR 2 549 646

Coordinated in:

Germany

Call for proposal:

FP7-ICT-2007-3See other projects for this call

Funding scheme:

CP - Collaborative project (generic)

Development of an advanced multi-robot system for underwater environments

Autonomous Underwater Vehicles (AUVs) represent one of the most challenging frontiers for robotics research. AUVs work in an unstructured environment and face unique perception, decision, control and communications difficulties. Currently, the state of the art is dominated by single AUVs limited to open-sea, preplanned trajectories with offline postprocessing of the data gathered during the mission. The use of multiple AUVs as explored in this project is still in a very early research phase. Some of the research issues addressed in this project are even completely uncharted territory, especially the development of functionalities to seamlessly monitor critical underwater infrastructures and detect anomalous situations (e.g., missions related to harbour safety and security) and, also, the study of advanced AUVs capable of interacting with humans to perform such functions as companion/support platforms during scientific and commercial dives. The aim of the Co3-AUVs project is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects will be investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. As a result, the team of AUVs will cooperate in challenging scenarios in the execution of missions where all data is processed online. In doing so, the team will be robust with respect to failures and environmental changes. These key features will be tested in a harbour scenario, where additional difficulties arise, compared to open sea applications and in a human diver assistance scenario that also illustrates human robot interaction issues.

Objective

Autonomous Underwater Vehicles (AUVs) represent one of the most challenging frontiers for robotics research. AUVs work in an unstructured environment and face unique perception, decision, control and communications difficulties. Currently, the state of the art is dominated by single AUVs limited to open-sea preplanned trajectories with offline postprocessing of the data gathered during the mission. The use of multiple AUVs as propagated in this project is still in a very early research phase. Some of the research issues addressed in this project are even completely uncharted territory, especially the development of functionalities to seamlessly monitor critical underwater infrastructures and to detect anomalous situations (e.g., missions related to harbour safety and security) and the study of advanced AUVs capable of interacting with humans to perform such functions as companion/support platforms during scientific and commercial dives. The aim of the Co3-AUVs project is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects will be investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. As a result, the team of AUVs will cooperate in challenging scenarios in the execution of missions where all data is online processed. In doing so, the team will be robust with respect to failures and environmental changes. These key features will be tested in a harbor scenario where additional difficulties with respect to open sea applications arise and in a human diver assistance scenario that also illustrates human robot interaction issues.

Related information

Documents and Publications

Open Access

Coordinator contact

Andreas BIRK, (Project Coordinator)
Tel.: +49-421-200.3113
Fax: +49-421-200.3103
E-mail
Andreas BIRK, (Project Coordinator)
Tel.: +49-421-200.3113
Fax: +49-421-200.3103
E-mail

Coordinator

JACOBS UNIVERSITY BREMEN GGMBH
Germany

EU contribution: EUR 929 660


Campus Ring 1
28759 BREMEN
Germany
Administrative contact: Ronald Kieschnick
Tel.: +49 421 200 4515
Fax: +49 421 200 4515
E-mail

Participants

UNIVERSITA DEGLI STUDI DI GENOVA
Italy

EU contribution: EUR 140 936


VIA BALBI
16126 GENOVA
Italy
Administrative contact: Cinzia Leone
Tel.: +390103532311
Fax: +390103532948
E-mail
GRAAL TECH SRL
Italy

EU contribution: EUR 548 500


VIA GROPALLO
16122 GENOVA
Italy
Administrative contact: Andrea Caffaz
Tel.: +390108597680
Fax: +39 0108597684
E-mail
INSTITUTO SUPERIOR TECNICO
Portugal

EU contribution: EUR 530 586


Avenida Rovisco Pais
1049-001 LISBOA
Portugal
Administrative contact: Antonio Pascoal
Tel.: +351 21 8418081
Fax: +351 21 8478619
E-mail
UNIVERSITA DI PISA
Italy

EU contribution: EUR 96 400


Lungarno Pacinotti
56126 PISA
Italy
Administrative contact: IMMACOLATA VIVA
Tel.: +390502217833
E-mail
UNIVERSITA DEL SALENTO
Italy

EU contribution: EUR 90 000


PIAZZETTA TANCREDI
73100 LECCE
Italy
Administrative contact: PAOLA SOLOMBRINO
Tel.: +390832297700
E-mail
UNIVERSITA DEGLI STUDI DI CASSINO E DEL LAZIO MERIDIONALE
Italy

EU contribution: EUR 213 564


VIA MARCONI 10
03043 CASSINO
Italy
Administrative contact: CARMINE NICOLO
Tel.: +3907762993386
E-mail
Record Number: 89244 / Last updated on: 2016-04-01