Angelo Odetti, Massimo Caccia and Marco Bibuli
SWAMP – Shallow Water Autonomous Multipurpose Platform is a highly modular reconfigurable lightweight ASV, designed for very shallow water operations and structurally safe for surrounding people. The catamaran shaped vehicle is constituted by two separate mono-hull modules, each equipped with two azimuth pump-jets, navigation package, guidance and control module, wireless communication and power supply. Since each mono-hull system can work as a separate vehicle, SWAMP ASV is also a testbed for decentralized control architectures for autonomous marine robots. During the presentation SWAMP ASV design and construction process, first field applications from citizen science to riverine bathymetry mapping, and perspectives for investigation in distributed control systems, such as in EUMR TNA Dingos, will be presented and discussed.