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The University of Southampton
Southampton Marine and Maritime Institute

Cooperative Motion Planning, Navigation and Control of Autonomous Marine Vehicles Seminar

18 April 2013
Southampton University, Highfield Campus, Building 7, Room 3027

For more information regarding this seminar, please telephone Dr. Alexander Brian Phillips on +44 (0)23 8059 6524 or email .

Event details

This talk addresses the general topic of cooperative marine vehicle motion planning, navigation, and control, both from a theoretical and a practical standpoint.

The presentation is rooted in practical developments and experiments. Examples of scientific mission scenarios with autonomous surface vehicles (ASVs) and autonomous underwater vehicles (AUVs), acting alone or in cooperation, set the stage for the main contents of the presentation. From a theoretical standpoint, special attention is given to a number of challenging problems that include: i) multiple vehicle motion planning with spatial and temporal deconfliction, ii) cooperative motion control of fleets of autonomous vehicles and iii) cooperative vehicle navigation using geophysical and single-beacon measurements. The efficacy of some of the systems developed has been proven during actual tests at sea. Recent results on cooperative motion control with applications to the development of devices for robot-assisted diving operations are also described. The results are illustrated with videos from actual field tests with multiple marine robots and a human diver in the loop. The core material presented in the talk was obtained in the scope of the EC GREX (, CO3AUVs (, and MORPH ( projects.

Speaker information

Professor Antonio Pascoal, Institute for Systems of Robotics, Lisbon. – PhD in Control Science from the University of Minnesota, Minneapolis, MN, USA. Associate Professor of IST and Vice-President, Scientific Affairs of the Institute for Systems of Robotics (ISR/LARSyS). Expertise in Dynamical Systems Theory, Robotics, Navigation, Guidance, and Control of Autonomous Vehicles, and Networked Control and Estimation. Elected Chair, IFAC Technical Committee Marine Systems, 2008. Vice-President EuorOcean, the European Center for Information on Marine Science and Technology. He has participated in a large number of EU funded collaborative research projects in the areas of dynamical systems and ocean robotics. He is the author of more than 150 papers and communications on the subject, published in international journal and proceedings of conferences.

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