FN Archimer Export Format
PT J
TI EU project MORPH: Current Status After 3 Years of Cooperation Under and Above Water
BT 
AF Kalwa, J.
   Pascoal, A.
   Ridao, Pere
   Birk, A.
   Glotzbach, T.
   Brignone, Lorenzo
   Bibuli, M.
   Alves, J.
   Silva, M.C.
AS 1:1;2:2;3:3;4:4;5:5;6:6;7:7;8:8;9:9;
FF 1:;2:;3:;4:;5:;6:PDG-IMN-SM-PRAO;7:;8:;9:;
C1 ATLAS ELEKTRONIK GmbH, Bremen, Germany
   Institute of Robotics of the Instituto Superior Tecnico, Lisbon, Portugal
   Universiat de Girona, Girona, Spain
   Jacobs Universität Bremen, Bremen, Germany
   Ilmenau University of Technology, Faculty of Computer Science and Automation, Ilmenau, Germany
   Institut français de recherche pour l'exploitation de la mer, La Seyne sur Mer, France
   Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l'automazion, Genova, Italy
   NATO Undersea Research Centre, La Spezia, Italy
   Instituto do Mar, Horta, Portugal
C2 ATLAS ELEKTRONIK GMBH, GERMANY
   ISR, PORTUGAL
   UNIV GIRONA, SPAIN
   UNIV BREMEN, GERMANY
   UNIV ILMENAU, GERMANY
   IFREMER, FRANCE
   CNR, ITALY
   NATO, ITALY
   INST DO MAR, PORTUGAL
SI AUTRE
   TOULON
SE AUTRE
   PDG-IMN-SM-PRAO
TC 0
UR https://archimer.ifremer.fr/doc/00277/38854/37392.pdf
LA English
DT Article
DE ;complementary navigation;control;architecture;adaptive behaviour;robotic vehicle
AB 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.
PY 2015
SO IFAC-PapersOnLine
SN 2405-8963
PU Elsevier BV
VL 48
IS 2
BP 119
EP 124
DI 10.1016/j.ifacol.2015.06.019
ID 38854
ER

EF