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Classes of oceanographic missions addressing relevant distinct scientific and applied objectives in the Portuguese coastal waters are examined in the context of an R&D project aiming at providing a methodological framework adapted to the specific requirements of AUV-based systems design. Preliminary results consisting on the mapping of requirements onto a modular system are presented.

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This paper describes the initial design phase of the software control architecture for the AUV MARIUS. This research effort is part of a long term project that aims to enable the prototype vehicle to carry out environmental surveying missions in coastal waters, in a completely autonomous mode. Throughout the project, MARIUS will be used as an advanced testbed to test developments in the areas of Mission Planning and real-time Mission Execution Systems for AUV's.

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The design and development of the Swordfish Autonomous Surface Vehicle (ASV) system is discussed. Swordfish is an ocean capable 4.5m 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).