2003-2007 - Universidade Técnica de Lisboa

FCT RUMOS 2006-2009............PDCT/MAR/55609/2004...............20813
FCT DENO 2007-2010..............PTDC/EEA-ACR/67020/2006..........99120
FCT HELICIM 2007-2010...........PTDC/EEA-ACR/72853/2006..........46400
FCT OBSERVFLY 2008-2011.......PTDC/MAR/64546/2006..............163954
FCT NAV 2007-2010................PTDC/EEA-ACR/65996/2006.........102542
European
EC...GREX-2006-2009..............FP6-EU-IST-035223..................168500
EC...VENUS-2006 - 2009...........FP6-EU-IST-034924..................130000
EC...FREEsubNET-2006-2010....MRTN-CT-2006-036186...............123794
EC...CO3AUVs-2009-2012....... FP720073 ICT2007.2.1...............498000
..........................................................................Total 1353123 Euro
Previous publications in the area (5 in the last 5 years. If available you must indicate at the end of the citation, impact factor of the journal (IF=) and
number of citations (n° C=). Give title and full citation in original language)
[F1] R. Ghabcheloo, A. P. Aguiar, A. Pascoal, C. Silvestre, I. Kaminer, and J. Hespanha. Coordinated path-following in the presence of communication losses and
time delays. SIAM - Journal on Control and Optimization. Provisionally accepted, pending minor revision, 2008.
[F2] A. Pedro Aguiar and João P. Hespanha. Robust Filtering for Deterministic Systems with Implicit Outputs. To appear in Systems & Control Letters, 2008.
[F3] Vasconcelos, J. F., Silvestre, C., Oliveira, P., A Nonlinear GPS/IMU Based Observer for Rigid Body Attitude and Position Estimation, Proc. 47th IEEE
Conference on Decision and Control, Cancun, Mexico, December 2008.
[F4] Batista, P., Silvestre, C., Oliveira, P., Optimal Position and Velocity Navigation Filters with Discrete-Time Delayed Measurements, Proc. 47th IEEE Conference
on Decision and Control, Cancun, Mexico, December 2008.
[F5] F. Teixeira and A. Pascoal, Geophysical Navigation of Autonomous Underwater Vehicles Using Geomagnetic Information, Proc. NGCUV’08 - IFAC Workshop on
Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, Apr. 2008.
Special Requirements (equipment, facilities, staff or other special needs essential to carry out the future research program)
Most of the theoretical and experimental developments carried out at the DSORL are largely supported by EU and National project funding. This highly
competitive funding will continue to be sought in the future. However, because of the tight temporal schedules associated with it, it is very challenging to do the
sustained work that is required to have a set of robotic platforms available at a true operational level, capable of being used by scientific and commercial end
users on a far more regular basis, in many practical applications that range from marine habitat mapping to inspection of critical infrastructures.
The key required resources are:
Equipment:
1- Electronics Lab: Pick-and-place soldering station for standard SMD devices including ball grid array (BGA) integrated circuits.
2- High quality underwater camera to equip the INFANTE and the MAYA AUVs
3- Underwater acoustic camera for obstacle detection and avoidance purposes.
4- Ultra-Short-Baseline System for comparison studies aimed at assessing the efficacy of the underwater target tracking systems developed in-house.
5- Set of underwater acoustic modems for experimental trials of networked control and navigation.
Manpower:
1- One Post-Doc researcher to conduct independent research in the area of navigation and control of single and multiple autonomous vehicles with applications to
ocean and air robots.
2- One Post-Doc researcher to carry out research at the crossroads of acoustics, acoustic communication and positioning, and navigation and control.
3- One software technician: responsible for the software architecture of the DSORL robots, with the objective of increasing the operational capabilities of the
existing vehicles.
4- One electronic engineer: responsible for the existing vehicles’ hardware and for centralizing the development of hardware to interface new sensing devices.
© Apr 2008 — FCT Divisão de Apoio Informático