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Over the past decade, numerous significant contributions based on Model Predictive Control concepts have paved the way for a paradigm shift in addressing the complex task of coordinating autonomous vehicles to safely follow predefined trajectories defined as pointwise-in-time set-membership state constraints. While these techniques undoubtedly offer enhanced control performance, their initial implementation at the end-user level often presents formidable challenges, hindering their widespread adoption within the control community. For this reason, this paper introduces CoGoV, a novel Matlab-based toolbox designed to provide a streamlined and user-friendly approach for implementing Command Governor-based supervisory strategies in the context of multi-vehicle distributed motion planning challenges. Importantly, users are not required to possess specific optimization knowledge to leverage its capabilities. To illustrate the toolbox’s advantages, we present simulations demonstrating its effectiveness in supervising and coordinating a group of dynamically independent omnidirectional Unmanned Surface Vehicles (USVs) subject to Local, Obstacle Avoidance and Collision Avoidance constraints.

This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones.

This study investigates a system for monitoring displacements of underground pipelines in landslide-prone regions. This information is an important alarm indicator, not only to prevent the failure of the line itself but also to mitigate the direct consequences of landslides on buildings and infrastructures in the affected area. Specifically, a numerical processing tool coupled with a data acquisition system is proposed. The starting point is the measurement of axial strain at three points of discrete sections of the pipeline by Fiber Bragg grating sensors, used to approximate the trend of mean axial strain and bending curvatures along the pipe axis. A finite element analysis based on a 3D geometrically exact beam model is developed for computing the deformed configuration corresponding to the input strain field. After assigning the boundary conditions, a mixed iterative scheme is used for a quick solution to the nonlinear problem. Firstly, the tool is validated theoretically with benchmarks on beam-like structures undergoing large deflections. Then, experimental results are produced on a monitored pipe buried in a wedge of land subject to an artificial slide. The overall sensor-modeling system, with zero displacements far from the landslide as a boundary condition, provides a satisfactory displacement trend with a mean error of about 18% with just three effective monitored sections in the affected pipe stretch of 18 m. The acquisition and processing tool is implemented in a web application as a real-time alarm system.

Aquaculture net pens inspection and monitoring are important to ensure net stability and fish health in the fish farms. Remotely operated vehicles (ROVs) offer a low-cost and sophisticated solution for the regular inspection of the underwater fish net pens due to their ability of visual sensing and autonomy in a challenging and dynamic aquaculture environment. In this paper, we report the integration of an ROV with a visual servoing scheme for regular inspection and tracking of the net pens. We propose a vision-based positioning scheme that consists of an object detector, a pose generator, and a closed-loop controller. The system employs a modular approach that first utilizes two easily identifiable parallel ropes attached to the net for image processing through traditional computer vision methods. Second, the reference positions of the ROV relative to the net plane are extracted on the basis of a vision triangulation method. Third, a closed-loop control law is employed to instruct the vehicle to traverse from top to bottom along the net plane to inspect its status. The proposed vision-based scheme has been implemented and tested both through simulations and field experiments. The extensive experimental results have allowed the assessment of the performance of the scheme that resulted satisfactorily and can supplement the traditional aquaculture net pens inspection and tracking systems.

Over the last decade, the increased use of information and communication technology (ICT) in agriculture applications has led to the definition of the concept of precision farming or equivalently smart agriculture. In this respect, the latest progress in connectivity, automation, images analysis and artificial intelligence allow farmers to monitor all production phases and, due to the help of automatic procedures, determine better treatments for their farms. One of the main objectives of a smart agriculture system is to improve the yield of the field. From this point of view, the Internet of Things (IoT) paradigm plays a key role in precision farming applications due to the fact that the use of IoT sensors provides precise information about the health of the production. In this paper, the results of the recently concluded R&D project ENOTRIA TELLUS are reported. The project aimed at the development of all hardware/software components for implementing a precision farming architecture allowing the farmers to manage and monitor the vineyards’ health status. The smart architecture combines various sub-systems (web application, local controllers, unmanned aerial vehicles, multi-spectral cameras, weather sensors etc.) and electronic devices, each of them in charge of performing specific operations: remote data analysis, video processing for vegetation analysis, wireless data exchanges and weather and monitoring data evaluation. Two pilot sites were built where the smart architecture was tested and validated in real scenarios. Experimental activities show that the designed smart agriculture architecture allowed the farmers to properly schedule the various phases of cultivation and harvesting.

This paper presents the design and validation of a model-based H∞ vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink © and Carsim 8 ©. The simulation activity shows that the proposed control approach allows for good control performance to be achieved.

In underwater localization systems several sources of error may impact in different ways the accuracy of the final position estimates. Through simulations and statistical analysis it is possible to identify and characterize such sources of error and their relative importance. This is especially of use when an accurate localization system has to be designed within required accuracy prescriptions. This approach allows one to also investigate how much these sources of error influence the final position estimates achieved by an Extended Kalman Filter (EKF). This paper presents the results of experiments designed in a virtual environment used to simulate real acoustic underwater localization systems. The paper intends to analyze the main parameters that significantly influence the position estimates achieved by a Short Baseline (SBL) system. Specifically, the results of this analysis are presented for a proprietary localization system constituted by a surface platform equipped with four acoustic transducers used for the localization of an underwater target. The simulator here presented has the purpose of simulating the hardware system and modifying some of its design parameters, such as the base-line length and the errors on the GPS and Inertial Measurement Unit (IMU) units, in order to understand which parameters have to modify for improving the accuracy of the entire positioning system. It is shown that statistical analysis techniques can be of help in determining the best values of these parameters that permit to improve the performance of a real hardware system.

In scientific and technical diving, the survey of unknown or partially unexplored areas is a common task that requires an accurate planning for ensuring the optimal use of resources and the divers’ safety. In particular, in any kind of diving activity, it is essential to foresee the “dive profile” that represents the diver’s exposure to pressure over time, ensuring that the dive plan complies with the specific safety rules that have to be applied in accordance with the diver’s qualification and the environmental conditions. This paper presents a novel approach to dive planning based on an original underwater pathfinding algorithm that computes the best 3D path to follow during the dive in order to be able to maximise the number of points of interest (POIs) visited, while taking into account the safety limitations. The proposed approach, for the first time, considers the morphology of the 3D space in which the dive takes place to compute the best path, taking into account the decompression limits and avoiding the obstacles through the analysis of a 3D map of the site. Moreover, three different cost functions are proposed and evaluated to identify the one that could suit the divers’ needs better.