CADDY is a collaborative project funded by the European Community's Seventh Framework Programme FP7 - Challenge 2: Cognitive Systems and Robotics - under grant agreement n° 611373.

Small or medium-scale focused research project (STREP)
Duration: 36 months (January 2014 – December 2016)
Budget: 4.881.103 € (EU contribution 3.679.931 €)
First CADDY trials and presentation at workshop Breaking the Surface

RESULTS / Published papers

List of scientific publications

List of journal papers
 
  1. Max Pfingsthorn and Andreas Birk. Generalized graph SLAM: Solving local and global ambiguities through multimodal and hyperedge constraints. The International Journal of Robotics Research May 2016 35: 601-630, first published on June 29, 2015.
  2. Marco Bibuli, “Diving with robots”, HANSA International Maritime Journal, pp. 66, May 2016.
  3. Mandić, Filip; Rendulić, Ivor; Mišković, Nikola; Nađ, Đula. Underwater object tracking using sonar and USBL measurements. // Journal of Sensors. 2016 (2016) ; 1-10
  4. Mišković, Nikola; Bibuli, Marco; Birk, Andreas; Caccia, Massimo; Egi, Murat; Grammer, Karl; Marroni, Alessandro; Neasham, Jeff; Pascoal, Antonio; Vasilijević, Antonio; Vukić, Zoran. CADDY - Cognitive Autonomous Diving Buddy: Two Years of Underwater Human-Robot Interaction. // Marine technology society journal. 50 (2016), 4; 54-66
  5. Mišković, Nikola; Nađ, Đula; Vukić, Zoran. Full–Scale Identification by Use of Self– Oscillations for Overactuated Marine Surface Vehicles. // International journal of adaptive control and signal processing. 2016 (2016)
  6. Stilinović, Nikola; Marković, Milan; Mišković, Nikola; Vukić, Zoran; Vasilijević; Antonio. Mechanical Design of an Autonomous Marine Robotic System for Interaction with Divers. // Brodogradnja : časopis brodogradnje i brodograđevne industrije. 67 (2016) , 3; 73-86
  7. Vasilijević, Antonio; Nađ, Đula; Stilinović, Nikola; Mišković, Nikola; Vukić, Zoran. Application of an ASV for coastal underwater archaeology. // Pomorski zbornik. 1 (2016) ; 179-186
  8. David Moreno-Salinas, Antonio Pascoal, and Joaquin Aranda, "Optimal Sensor Placement for Acoustic Underwater Target Positioning with Range-Only Measurements", IEEE Transactions in Oceanic Engineering 41(3), July 2016.

 

  1. Mišković, Nikola; Nađ, Đula; Rendulić, Ivor. Tracking Divers: An Autonomous Marine Surface Vehicle to Increase Diver Safety. // IEEE robotics & automation magazine. 22 (2015) , 3; 72-84
  2. Nađ, Đula; Mišković, Nikola; Mandić, Filip. Navigation, guidance and control of an overactuated marine surface vehicle. // Annual reviews in control. 40 (2015), 172-181
  3. B. Bayat, N. Crasta, A. Aguiar, A. Pascoal, “Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Range and Depth Measurements,” IFAC Annual Reviews in Control, Volume 40, 2015, Pages 142–156
  4. B. Bayat, N. Crasta, A. Aguiar, A. Pascoal, “Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments,” IEEE Transactions on Control Systems Technology, Vol. 24, No.1, January 2015, pp. 122-139.
  5. Buxton, Bridget; Mišković, Nikola. Postcards from the Pladypos: Field-Testing the First Generation of Cognitive Robots for Underwater Archaeology. Mobilizing the Past for a Digital Future: The Potential of Digital Archaeology. 27-28 February 2015. Boston, USA. 2015

 

List of scientific publications

  1. Moreno-Salinas, D.; Crasta, N.; Ribeiro, M.; Bayat, B.; Pascoal, A.; Aranda, J., Integrated Motion Planning, Control, and Estimation for Range-Based Marine Vehicle Positioning and Target Localization, 10th IFAC Conference on Control Applications in Marine Systems (CAMS). Trondheim, Norway, 2016.
  2. Abreu, P; Botelho, J.; Gois, P.; Pascoal, A.; Ribeiro, J.; Ribeiro, M.; Sebastiao, L.; Silva, H.; The MEDUSA class of Autonomous Marine Vehicles and their Role in EU Projects, Proceedings of IEEE/MTS OCEANS, Shanghai, China, 2016
  3. M. Bibuli, G. Bruzzone, D. Chiarella, M. Caccia, A. Odetti, A. Ranieri, E. Saggini, E. Zereik. “Underwater robotics for diver operations support: the CADDY project”. Proc. of the 15th Conference on Computer Applications and Information Technology in the Maritime Industries, Lecce, Italy, 9-11 May 2016.
  4. A. G. Chavez, M. Pfingsthorn, R. Rathnam and A. Birk, "Visual speed adaptation for improved sensor coverage in a multi-vehicle survey mission," OCEANS 2016 - Shanghai, Shanghai, 2016, pp. 1-6.
  5. A. G. Chavez, J. Fontes, P. Afonso, M. Pfingsthorn and A. Birk, "Automated species counting using a hierarchical classification approach with Haar cascades and multi-descriptor random forests," OCEANS 2016 - Shanghai, Shanghai, 2016, pp. 1-6
  6. M. Pfingsthorn, R. Rathnam, T. Luczynski and A. Birk, "Full 3D navigation correction using low frequency visual tracking with a stereo camera," OCEANS 2016 - Shanghai, Shanghai, 2016, pp. 1-6.
  7. Guštin, Franka; Rendulić, Ivor; Mišković, Nikola; Vukić, Zoran. Hand gesture recognition from multibeam sonar imagery // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16), 470-475
  8. Mandić, Filip; Mišković, Nikola; Palomeras, Narcis; Carreras, Marc; Vallicrosa, Guillem. Mobile beacon control algorithm that ensures observability in single range navigation // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16),  48-53
  9. Mišković, Nikola; Pascoal, Antonio; Bibuli, Marco; Caccia, Massimo; Neasham, Jeffrey A.; Birk, Andreas; Egi, Murat; Grammer, Karl; Marroni, Alessandro; Vasilijević, Antonio; Vukić, Zoran. CADDY Project, Year 2: The First Validation Trials // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16), 420 – 425, 2016
  10. Nađ, Đula; Mandić, Filip; Mišković, Nikola. Diver Tracking Using Path Stabilization - the Virtual Diver Experimental Results // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16), 214 – 219, 2016
  11. Nađ, Đula; Ribeiro, Miguel; Silva Henrique; Ribeiro, Jorge; Abreu, Pedro; Mišković, Nikola; Pascoal, Antonio. Cooperative Surface/Underwater Navigation for AUV Path following missions // Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16), 355 – 360, 2016
  12. Mišković, Nikola; Murat, Egi; Nađ, Đula; Pascoal, Antonio; Sebastiao Luis; Bibuli, Marco. Human–Robot Interaction Underwater: Communication and Safety Requirements // Proceedings of UCOMMS'16 Conference, 1-5, 2016.
  13. A. G. Chavez, A. Babić, Đ. Nađ, C. Müller and A. Birk. Stereo-vision based diver pose estimation using LSTM recurrent neural networks for AUV navigation guidance. Submitted to OCEANS'17
  14. Mišković, Nikola; Pascoal, Antonio; Bibuli, Marco; Caccia, Massimo; Neasham, Jeffrey A.; Birk, Andreas; Egi, Murat; Grammer, Karl; Marroni, Alessandro; Vasilijević, Antonio; Vukić, Zoran. CADDY Project, Year 3: The Final Validation Trials // submitted to OCEANS’17, Aberdeen, UK

 

  1. Egi SM, Balestra C, Pieri M, Cialoni D, Thomas G, Marroni A. Cognitive Autonomous Diving Buddy (CADDY)- Operational Safety and Preliminary Results. CAISSON. March 2015;30(1):6-13
  2. Mišković, Nikola; Pascoal, Antonio; Bibuli, Marco; Caccia, Massimo; Neasham, Jeffrey A.; Birk, Andreas; Egi, Murat; Grammer, Karl; Marroni, Alessandro; Vasilijević, Antonio; Vukić, Zoran. Overview of the FP7 project "CADDY - Cognitive Autonomous Diving Buddy" // Proceedings of MTS/IEEE OCEANS'15 Conference.
  3. Stilinović, Nikola; Nađ, Đula; Mišković, Nikola. AUV for Diver Assistance and Safety - Design and Implementation // Proceedings of MTS/IEEE OCEANS'15 Conference.
  4. Chiarella D., Bibuli M., Bruzzone G., Caccia M., Ranieri A., Zereik E., Marconi L., Cutugno P. Gesture-based language for diver-robot underwater interaction // Proceedings of MTS/IEEE OCEANS'15 Conference.
  5. D. Chiarella, P. Cutugno, L. Marconi, R. Lucentini. Domain-specific languages: a gesture-based approach for Human Robot Interaction in underwater environments // Proceedings of IX Conferencia Científica Internacional Lingüística - Instituto de Literatura y Lingüística "José Antonio Portuondo Valdor", La Habana, 25-27 November 2015 .
  6. Mišković, Nikola; Pascoal, Antonio; Bibuli, Marco; Caccia, Massimo; Neasham, Jeffrey A.; Birk, Andreas; Egi, Murat; Grammer, Karl; Marroni, Alessandro; Vasilijević, Antonio; Vukić, Zoran. CADDY Project, Year 1: Overview of Technological Developments and Cooperative Behaviours // Proceedings of 4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015).
  7. Goodfellow, Geraint M.; Neasham, Jeffrey A.; Rendulić, Ivor; Nađ, Đula; Mišković, Nikola. DiverNet - a Network of Inertial Sensors for Real Time Diver Visualization // Proceedings of IEEE Sensors Applications Symposium (SAS) 2015. IEEE, 2015. 1-6
  8. Mandić, Filip; Mišković, Nikola. Tracking Underwater Target Using Extremum Seeking // Proceedings of the 4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV’2015).
  9. Rendulić, Ivor; Bibulić, Aleksandar; Mišković, Nikola. Estimating diver orientation from video using body markers // Proceedings of MIPRO 2015 Conference / Petar Biljanović (ur.). Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2015. 1257-1263
  10. Gomez Chavez, Arturo; Pfingsthorn, Max; Birk, Andreas; Rendulić, Ivor; Mišković, Nikola. Visual Diver Detection using Multi-Descriptor Nearest- Class-Mean Random Forests in the Context of Underwater Human Robot Interaction (HRI) // Proceedings of MTS/IEEE OCEANS'15 Conference
  11. Ivaylo Enchev, Max Pfingsthorn, Tomasz Luczynski, Andreas Birk, Daniel Tietjen. Underwater Place Recognition in Noisy Stereo Data using Fab-Map with a Multimodal Vocabulary from 2D Texture and 3D Surface Descriptors. Proceedings of Oceans'15 IEEE/MTS Genova, May 2015
  12. Neasham J.A, Goodfellow G, Sharphouse R,  Development of the “Seatrac” miniature acoustic modem and USBL positioning units for subsea robotics and diver applications, Proceedings of MTS/IEEE OCEANS 2015, Genoa
  13. M. Pedro, D. Moreno Salinas, N. Crasta, A. Pascoal, “Underwater Single-Beacon Localization: Optimal Trajectory Planning and Minimum-Energy Estimation,” Proc. IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles (NGCUV´2015), Girona, Spain, 28-30 April, 2015
  14. P. Abreu, B. Bayat, J. Botelho, P. Góis, A. Pascoal, J. Ribeiro, M. Ribeiro, M. Rufino, L. Sebastião, H. Silva, “Cooperative Control and Navigation in the Scope of the EC CADDY Project”, Proc. OCEANS´15 MTS/IEEE Genova, Italy, 18-21 May, 2015
  15. J. Ferreira, A. Pascoal, “Nonlinear System Identification with Applications to the MEDUSA Autonomous Marine Vehicles,” Internal Report IR/IST/IMedusa/2015, Instituto Superior Técnico (IST), Lisbon, Portugal, June 2015.
  16. F. Mandić, N. Mišković, Z. Vukić, “Range–only Navigation – Maximizing System Observability by Using Extremum Seeking”, 10th Conference on Manoeuvring and Control of Marine Craft (MCMC'2015), Denmark, 24-26 August 2015
  17. Martin Magnusson, Narunas Vaskevicius, Todor Stoyanov, Kaustubh Pathak, and Andreas Birk. "Beyond Points: Evaluating Recent 3D Scan-Matching Algorithms". In Proceedings of the IEEE International Conference on Robotics and Automation, 2015
  18. Daniel Köhntopp, Benjamin Lehmann, Dieter Kraus, and Andreas Birk. "Segmentation and Classification using Active Contours based Superellipse Fitting on Side Scan Sonar Images for Marine Demining”. In Proceedings of the IEEE International Conference on Robotics and Automation, 2015

 

  1. S. Murat Egi, Guy Thomas, Massimo Pieri, Danilo Cialoni, Costantino Balestra, Alessandro Marroni, Safety rules for the development of a Cognitive Autonomous Underwater Buddy (CADDY), ISUR - 8th International Symposium on Underwater Research; 26-29 March 2014, Procida, Italy.
  2. M. Menix, N. Mišković, Z. Vukić, Interpretation of divers' symbolic language by using hidden Markov models, Proceedings of the 35th international convention on information and communication technology, electronics and microelectronics MIPRO/CTS 2014), Opatija, Croatia
  3. B. Bayat, N. Crasta, A. Aguiar, A. Pascoal, “Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments,” submitted for publication to IEEE Transactions on Control Systems Technology, June 2014.
  4. D. Salinas, A. Pascoal, and J. Aranda, "Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements," Proc. 19th IFAC World Congress 2014, Cape Town, South Africa, 24-29 August, 2014.
  5. M. Pedro, D. Moreno Salinas, N. Crasta, A. Pascoal, “Underwater Single-Beacon Localization: Optimal Trajectory Planning and Minimum-Energy Estimation,” submitted in Dec. 2014 to the IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles (NGCUV´2015), Girona, Spain, 28-30 April, 2015
  6. P. Abreu, B. Bayat, J. Botelho, P. Góis, A. Pascoal, J. Ribeiro, M. Ribeiro, M. Rufino, L. Sebastião, H. Silva, “Cooperative Control and Navigation in the scope of the EC CADDY Project”, submitted to OCEANS´15 MTS/IEEE Genova, Italy, 18-21 May, 2015
  7. N. Mišković, Đ. Nađ, A. Vasilijević, Z. Vukić, "Dynamic Positioning of a Diver Tracking Surface Platform" Proc. 19th IFAC World Congress 2014, Cape Town, South Africa, 24-29 August, 2014.
  8. SM Egi, G Thomas, M Pieri, D Cialoni, C Balestra, A Marroni. Safety rules for the development of a Cognitive Autonomous Underwater Buddy (CADDY). 40th Scientific Annual Meeting of the European Underwater & Baromedical Society (EUBS 2014), 23th – 28th September 2014, Wiesbaden, Germany, Caisson 2014, Nr3.p.57-58.
  9. SM Egi, G Thomas, M Pieri, D Cialoni, C Balestra, A Marroni. Safety rules for the development of a Cognitive Autonomous Underwater Buddy (CADDY). China International Diving, Salvage & Offshore Summit 2014( DSOS-2014, Dalian, China.
  10. M Pieri, D Cialoni, SM Egi, A Marroni. Blood glucose real time monitoring and recording during scuba diving: case report. 40th Scientific Annual Meeting of the European Underwater & Baromedical Society (EUBS 2014), 23th – 28th September 2014, Wiesbaden, Germany, Caisson 2014, Nr3.p.38
  11. E. Zereik, M. Bibuli, G. Bruzzone, F. Gagliardi, F. Bonsignorio, "Motion planning in the belief space for compliant behaviour of a diver companion robot", Proc. of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, December 2014 
© 2014 CADDY - FER