@INPROCEEDINGS{4302467,
  author={H. {Ferreira} and R. {Martins} and E. {Marques} and J. {Pinto} and A. {Martins} and J. {Almeida} and J. {Sousa} and E. P. {Silva}},
  booktitle={OCEANS 2007 - Europe}, 
  title={SWORDFISH: an Autonomous Surface Vehicle for Network Centric Operations}, 
  year={2007},
  volume={},
  number={},
  pages={1-6},
  abstract={The 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).},
  keywords={boats;cellular radio;mobile robots;oceanographic techniques;remotely operated vehicles;wireless LAN;SWORDFISH;autonomous surface vehicle;network centric operation;catamaran;survey vehicle;communications node;gateway;broadband communication;Wi-Fi;GSM;underwater acoustic modem;docking station;autonomous underwater vehicle;Isurus;multivehicle operation;ocean robotics;Remotely operated vehicles;Mobile robots;Sea surface;Oceans;Humans;Underwater vehicles;Marine vehicles;Underwater communication;GSM;Underwater acoustics;Autonomous Surface Vehicles;ocean robotics;marine science operations;unmanned survey vessels},
  doi={10.1109/OCEANSE.2007.4302467},
  ISSN={},
  month={June},}