IEEE Robótica 2007 - 7th Conference on Mobile Robots and Competitions, Paderne, Portugal 2007This paper describes the design and development
of the Swordfish Autonomous Surface Vehicle (ASV) system.
The work focuses the sensors, actuators, communications and
C4I of an unmanned vehicle for marine operations.
SWORDFISH is an autonomous surface vehicle used as the
central communications link between air, undersea, and
terrestrial robotic vehicles of a network centric operation. It is
used as a test bed platform for deployment and testing of
advanced control and operational concepts for multi-vehicles
systems.
This new unmanned marine vehicle was done in the context
of the PISCIS project. The PISCIS project concerns the
development, test and evaluation of new vehicles and new
concepts of operation for networked vehicle systems in
oceanographic data collection. The PISCIS system includes two
autonomous underwater vehicles, the Swordfish ASV, an
acoustic navigation system, acoustic and radio communications
and a distributed command and control system
