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CADDY Project, Year 1: Overview of Technological Developments and Cooperative Behaviours

Lookup NU author(s): Professor Jeffrey Neasham


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© 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. "CADDY - Cognitive Autonomous Diving Buddy" is an FP7 project that started in January 2014. Seven partner institutions have joined their efforts towards developing a cognitive underwater robotic system that will help divers during their activities in this hazardous environment. The resulting system will play a threefold role similar to those that a human buddy diver should have: buddy "observer", buddy "slave", and buddy "guide". This paper gives an outline of the CADDY project results during the first year of execution. We focus only on the technical developments and cooperative behaviours that have taken place, in order to keep the overview concise and in line with the workshop topics. Special attention is given to the fleet of new and adapted autonomous marine vehicles used in the project, as well as technologies for perceiving the diver. In addition to that, we give a short overview of cooperative robotic behaviours and present initial results with autonomous surface marine vehicles tracking divers.

Publication metadata

Author(s): Miskovic N, Pascoal A, Bibuli M, Caccia M, Neasham JA, Birk A, Egi M, Grammer K, Marroni A, Vasilijevic A, Vukic Z

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: IFAC. Navigation, Guidance and Control of Underwater Vehicles - 4th NGCUV 2015

Year of Conference: 2015

Pages: 125-130

Online publication date: 02/09/2015

Acceptance date: 01/01/1900

Publisher: Elsevier


DOI: 10.1016/j.ifacol.2015.06.020