Browsing by Author "Pedrosa, Diogo Coelho"
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- Control-law for Oil Spill Mitigation with a team of Heterogeneous Autonomous VehiclesPublication . Pedrosa, Diogo Coelho; Dias, André Miguel PinheiroOil spill incidents in the sea or harbours occur with some regularity during exploration, production, and transport of petroleum products. In order to mitigate the impact of the oil spill in the marine life, immediate, safety, effective and eco-friendly actions must be taken. Autonomous vehicles can assume an important contribution by establishing a cooperative and coordinated intervention. This dissertation presents the development of two path planning control-laws, the first one an autonomous surface vehicle (ASV) being able to contour the oil spill while s deploying microorganisms and nutrients (bioremediation) capable of mitigate and contain the oil spill spread, and the second one for a unmanned aerial vehicle (UAV) in order to perform the coverage of the entire spillage area with the same microorganisms and nutrients deployment capabilities. In order to validate both methods, a simulation environment was developed in Gazebo with a oil spill scenario, an ASV and an UAV. Field tests have been conducted in the Leixões Harbour in Porto, Portugal.