Coordinated control of ocean going vehicles

The experimental setup and data from the final demonstration of the FP7 Coordination for Control (C4C) project are presented and discussed in the framework of the control architecture and software implementation developed by the LSTS laboratory from Porto University. The demonstration took place in the Leixões harbor in June 2011 and involved autonomous underwater vehicles, autonomous surface vehicles, our gateways (centralized communications hub for maritime assets, supporting several types of wireless and underwater networks) and a Long Baseline system. Demonstration scenarios are presented together with the technologies developed along the project and the results obtained.