The CO<sup>3</sup>AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) project: Overview and current progresses

摘要

“Cooperative Cognitive Control for Autonomous Underwater Vehicles” (Co <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> AUVs) is Collaborative Project (STREP) funded by the European Commission (EC) under the Seventh Framework Programme (FP7), “Information and Communication technologies” (ICT) Challenge 2: “Cognitive Systems, Interaction, Robotics”. The aim of Co <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> AUVs is to develop, implement and test advanced cognitive systems for coordination and cooperative control of multiple AUVs. Several aspects are investigated including 3D perception and mapping, cooperative situation awareness, deliberation and navigation as well as behavioral control strictly linked with the underwater communication challenges. This paper presents results from the first two years of the project, including the simulator, the development of vehicles and components, 2D as well as 3D underwater mapping, cooperative navigation and motion control, and cooperative skills.