EU project MORPH: Current Status After 3 Years of Cooperation Under and Above Water

Type Article
Date 2015
Language English
Author(s) Kalwa J.1, Pascoal A.2, Ridao Pere3, Birk A.4, Glotzbach T.5, Brignone Lorenzo6, Bibuli M.7, Alves J.8, Silva M.C.9
Affiliation(s) 1 : ATLAS ELEKTRONIK GmbH, Bremen, Germany
2 : Institute of Robotics of the Instituto Superior Tecnico, Lisbon, Portugal
3 : Universiat de Girona, Girona, Spain
4 : Jacobs Universität Bremen, Bremen, Germany
5 : Ilmenau University of Technology, Faculty of Computer Science and Automation, Ilmenau, Germany
6 : Institut français de recherche pour l'exploitation de la mer, La Seyne sur Mer, France
7 : Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l'automazion, Genova, Italy
8 : NATO Undersea Research Centre, La Spezia, Italy
9 : Instituto do Mar, Horta, Portugal
Source IFAC-PapersOnLine (24058963) (Elsevier BV), 2015 , Vol. 48 , N. 2 , P. 119-124
DOI 10.1016/j.ifacol.2015.06.019
Keyword(s) complementary navigation, control, architecture, adaptive behaviour, robotic vehicle
Abstract The MORPH project (FP 7, 2012-2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope.

The MORPH concept requires new concepts in a number of technological fields. Examples are adaptive sensor placement for perception and navigation or environmental modeling in complex environments. As the project enters its final year the basic developments have been achieved. It is still a huge effort to create a system out of components which can be perceived as a supra-vehicle. This paper focuses on a presentation of the current state.
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