文章基本信息

标题：EU project MORPH: Current Status After 3 Years of Cooperation Under and Above Water
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作者：J. Kalwa ; A. Pascoal ; P. Ridao 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：2
页码：119-124
DOI：10.1016/j.ifacol.2015.06.019
语种：English
出版社：Elsevier
摘要：AbstractThe 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.
关键词：Keywordscomplementary navigationcontrolarchitectureadaptive behaviourrobotic vehicle