|Title||SWORDFISH: an Autonomous Surface Vehicle for Network Centric Operations|
|Publication Type||Conference Paper|
|Year of Publication||2007|
|Authors||Ferreira, H, Martins, R, Marques, ERB, Pinto, J, Martins, A, Almeida, J, de Sousa, JBorges, Silva, EP|
|Conference Name||OCEANS 2007 - Europe|
|Keywords||Autonomous Surface Vehicles, marine science operations, ocean robotics, unmanned survey vessels|
The design and development of the swordfish autonomous surface vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5 m long catamaran designed for network centric operations (with ocean and air going vehicles and human operators). In the basic configuration, Swordfish is both a survey vehicle and a communications node with gateways for broadband, Wi-Fi and GSM transports and underwater acoustic modems. In another configuration, Swordfish mounts a docking station for the autonomous underwater vehicle Isurus from Porto University. Swordfish has an advanced control architecture for multi-vehicle operations with mixed initiative interactions (human operators are allowed to interact with the control loops).