Cooperative Formation Control in the scope of the EC MORPH Project: Theory and Experiments

The EC MORPH project, described in [1], proposes a novel concept of an underwater robotic system that emerges from the integration, albeit in a non-physical manner, of several different mobile robot-modules with distinct and complementary resources. This approach aims to afford end-users efficient tools to map the underwater environment with great accuracy in situations that defy existing technology: namely, underwater surveys over rugged terrain and structures with full 3D complexity. The paper gives a brief presentation of theoretical and practical implementation issues on cooperative navigation and formation control, followed by a description of the results of tests carried out at sea with vehicles from different partners, in June and September 2014. The theoretical set-up builds on leader-follower formation control algorithms, whereby formation control is achieved in both relative position (using USBL units) and range-only measurement (using range measuring devices) scenarios. We conclude with the improvements introduced for the recent trials in Girona, March 2015, that will be the focus of work in the immediate future.