The European R&D-Project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

作     者：J. Kalwa A. Pascoal P. Ridao A. Birk M. Eichhorn L. Brignone M. Caccia J. Alvez R.S. Santos 

作者机构：ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Tècnico 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 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2012年第45卷第5期

页      面：349-354页

主　　题：complementary navigation control architecture adaptive behaviour robotic vehicle 

摘      要：The MORPH project (FP 7, 2012-2016) advances the 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 rely on the flow of information among them, i. e. inter-module interactions are enabled by underwater communication networks at distant and close ranges and supported by visual perception at very close range. Without rigid links, the MSV can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires qualitatively new behaviors such as adaptive sensor placement for perception and navigation, as well as environmental modeling in complex environments. On site view planning will lead to a solution well beyond the operational state of the art for underwater cliff surveys and other similar missions. A final demonstration on a vertical cliff, unfeasible automatically with today s technology, will validate the efficacy of the methods developed at the end of the project.