Ferreira, H.Martins, R.Marques, E.Pinto, J.Martins, A. O.Almeida, J. M.Sousa, J. B.Silva, E. P.2015-11-202015-11-202007http://hdl.handle.net/10400.22/6977The 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).engBoatsCellular radioMobile robotsOceanographic techniquesRemotely operated vehiclesWireless LANjournal article10.1109/OCEANSE.2007.4302467