The European Project GREX: Coordination and Control of ...
The European Project GREX: Coordination and Control of ...
The European Project GREX: Coordination and Control of ...
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6. Summary <strong>and</strong> Current Status<br />
<strong>The</strong> <strong>GREX</strong> project has been launched in June 2006 within the 6 th framework <strong>of</strong> the <strong>European</strong><br />
Commission. Major goal <strong>of</strong> this 3 years project is to create a conceptual framework<br />
<strong>and</strong> middleware to coordinate a flock <strong>of</strong> heterogeneous unmanned marine vehicles. In<br />
order to get a widely general solution the requirements are routed along mission scenarios<br />
which incorporate all basic elements <strong>of</strong> civil <strong>and</strong> military applications.<br />
<strong>The</strong> project is divided into three major phases which are characterized by the main activities:<br />
1. Specifications <strong>and</strong> scientific research,<br />
2. Applied research <strong>and</strong> implementation,<br />
3. Successive trials <strong>and</strong> final demonstration <strong>of</strong> results.<br />
Currently the project approaches the end <strong>of</strong> the first phase. Most specifications are finalized<br />
<strong>and</strong> research on the challenging topics is in full progress. Beneath methodical research,<br />
hardware tests are performed which includes e. g. trials <strong>of</strong> different acoustic underwater<br />
modems. Furthermore, a system simulator is under development which allows<br />
testing various s<strong>of</strong>tware items during the coming development.<br />
<strong>The</strong> final result will comprise a user interface, based on the SeeTrack s<strong>of</strong>tware, a common<br />
control system for coordinated mission execution <strong>and</strong> control, a team based navigation<br />
system <strong>and</strong> a sophisticated communication system which takes into account needs<br />
for dynamic networking. All control <strong>and</strong> navigation issues have to be realized under constraints<br />
<strong>of</strong> the challenging underwater environment which allows only sparse communication.<br />
At the end <strong>of</strong> the project in 2009, life sea trials will be performed to validate the<br />
results achieved.<br />
More information can be found in the internet. <strong>The</strong> address <strong>of</strong> the project homepage is<br />
http://www.grex-project.eu .<br />
7. References<br />
[1] Cardigos, F., A. Colaço, P. R. D<strong>and</strong>o, S. P. Ávila, P. M. Sarradin, F. Tempera, F.,<br />
P. Conceição, A. Pascoal & R. S. Santos: “Characterization <strong>of</strong> the shallow water<br />
hydrothermal vent field communities <strong>of</strong> the D. João de Castro Seamount<br />
(Azores).” Chemical Geology, in press.<br />
[2] J. Kalwa, A. Pascoal, M. Perrier, R. S. Santos, T. Glotzbach, A. Zangrilli, V.<br />
Potchekanski, A. Cormack, M. Jarowinsky: “<strong>Coordination</strong> <strong>and</strong> control <strong>of</strong> cooperating<br />
heterogeneous unmanned systems in uncertain environments”, Annex 1,<br />
EC <strong>Project</strong> IST 035223, 2006<br />
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