The European Project GREX: Coordination and Control of ...

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The French research institute Ifremer with its operational experience in underwater communication will lead the specifications of communication in the GREX system and provide their Aster X -Vehicle for evaluative tests. To test the functionality of the joint modules, an overall simulation will be developed by Seebyte Ltd., UK. They will also be responsible to create the GUI for planning and analysis of the coordinated mission. The scientific/technical part of the project, described above, will be framed by an intensive marketing. INNOVA uses their experience in market studies and exploitation plans for GREX. MC Marketing Consulting will coordinate the dissemination and promotion during the project and prepares the web presentation. IST/ISR ASV Delphim IST/ISR AUV Infante Fig. 4: Selected unmanned marine vehicles available to the project ATLAS UUV SeaWolf Ifremer AUV Aster x 8
5. The GREX team The developments in the project will be tested using the existing vehicles of the consortium (Fig. 4 above), which really fulfil the heterogeneous approach. Each vehicle differs in their sensor equipment, their autonomous capabilities, dynamic properties, and programming/command language. To form a GREX-enabled vehicle there is the need to install an additional computer hardware which runs common modules which are responsible for the coordination, navigation, and communication tasks, see fig 5. Core element is the Team Handler. This module holds the team mission plan and is responsible for proper execution and possible re-planning activities. The control of coordinated behaviour will also be resident here. The latter functionality will be supported by the team navigation unit which holds the actual or estimated position of each vehicle in the group. The information is distributed via the acoustic communication, backed by range measurements to other vehicles. Vehicle specific console GREX Offline Interface GREX Interface Module Proprietary vehicle software ( unchanged) - Vehicle guidance - Navigation data - Payload data Mission Plan Handler Mission Monitoring Fig. 5: GREX software module overview GREX Planning Console Team Handler Coordinated Control Module Team Navigation IF to GREX sensors Generic software Vehicle specific software VEHICLE No. N Communication Module 9
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The European Project GREX: Coordination and Control of ...

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