摘要：This paper describe SWAMP, a prototype Autonomous Surface Vehicle (ASV) representing the base for the design and development of an innovative class of reliable modular reconfigurable lightweight ASVs for extremely shallow water applications. The design of SWAMP-class ASVs is based on a holistic approach involving different aspects of robotics such as the use of soft materials, the mechanical design of innovative propulsion system integrated with the vessel hull, the adoption of modular mechanical and computing architecture able to support multi-agent distributed GNC systems.
