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One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical...
This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and...
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