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Widely scalable Mobile Underwater Sonar Technology

Total Cost €


EC-Contrib. €






 WiMUST project word cloud

Explore the words cloud of the WiMUST project. It provides you a very rough idea of what is the project "WiMUST" about.

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Project "WiMUST" data sheet

The following table provides information about the project.


Organization address
address: VIA BALBI 5
city: GENOVA
postcode: 16126

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Italy [IT]
 Project website
 Total cost 3˙970˙081 €
 EC max contribution 3˙970˙081 € (100%)
 Programme 1. H2020-EU. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-02-01   to  2018-01-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    UNIVERSITA DEGLI STUDI DI GENOVA IT (GENOVA) coordinator 753˙500.00
2    EVOLOGICS GMBH DE (BERLIN) participant 586˙437.00
5    GEO MARINE SURVEY SYSTEMS BV NL (ROTTERDAM) participant 444˙750.00
7    GRAAL TECH SRL IT (GENOVA) participant 425˙000.00
9    CGG SERVICES SAS FR (MASSY) participant 104˙000.00


 Project objective

The WiMUST (Widely scalable Mobile Underwater Sonar Technology) project aims at expanding and improving the functionalities of current cooperative marine robotic systems, effectively enabling distributed acoustic array technologies for geophysical surveying with a view to exploration and geotechnical applications. Recent developments have shown that there is vast potential for groups of marine robots acting in cooperation to drastically improve the methods available for ocean exploration and exploitation. Traditionally, seismic reflection surveying is performed by vessel towed streamers of hydrophones acquiring reflected acoustic signals generated by acoustic sources (either towed or onboard a vessel). In this context, geotechnical surveying for civil and commercial applications (e.g., underwater construction, infrastructure monitoring, mapping for natural hazard assessment, environmental mapping, etc.) aims at seafloor and sub-bottom characterization using towed streamers of fixed length that are extremely cumbersome to operate. The vision underlying the WiMUST proposal is that of developing advanced cooperative and networked control / navigation systems to enable a large number (tens) of marine robots (both on the surface and submerged) to interact by sharing information as a coordinated team (not only in pairs). The WiMUST system may be envisioned as an adaptive variable geometry acoustic array. By allowing the group of surface and submerged vehicles to change their geometrical configuration, an end-user can seamlessly change the geometry of the ”virtual streamer” trailing the emitter, something that has not been achieved in practice and holds potential to drastically improve ocean surveying. The project brings together a group of research institutions, geophysical surveying companies and SMEs with a proven track record in autonomous adaptive and robust systems, communications, networked cooperative control and navigation, and marine robot design and fabrication.


List of deliverables.
Formation Control Final Report. The deliverable will include design details, together with simulation results and evaluation of the achievable performance Documents, reports 2019-05-30 17:03:26
Web Portal Report (access and use statistics analysis) Documents, reports 2019-05-30 17:03:17
Single Vehicle Motion Control. Documents, reports 2019-05-30 17:03:31
Development and validation of sensor array algorithms for model-based geoacoustic inversion Documents, reports 2019-05-30 17:03:23
Final Experiments Final Experiment Execution and Final Report on its outcome. Demonstrators, pilots, prototypes 2019-05-30 17:03:28
Demo system to be tested and relative Report about the System Integration activities. Demonstrators, pilots, prototypes 2019-05-30 17:03:34
Policies and algorithms for motion control with real time adaptation to changing communication constraints, with the objective of maintaining connectivity. Documents, reports 2019-05-30 17:03:22
Second Workshop / Summer School Report Other 2019-05-30 17:03:21
Algorithms for empowerment-based adaptive mission control. Documents, reports 2019-05-30 17:03:27
Distributed Localization and Navigation Final Report. The deliverable will include design details, together with simulation results and evaluation of the achievable performance. Documents, reports 2019-05-30 17:03:27
Industrial Dissemination Report Documents, reports 2019-05-30 17:03:32
Development and validation of sensor array algorithms for arrival-based geoacoustic inversion Documents, reports 2019-05-30 17:03:24
Methodology and Algorithms for incorporating external mission-relevant tasks into the empowerment-based adaptive mission control. Documents, reports 2019-05-30 17:03:22
Scientific and General Public Dissemination: Final Report Documents, reports 2019-05-30 17:03:28
Distributed sensor array HW & SW requirements Documents, reports 2019-03-11 10:31:40
Model interface for generative model of effect of mission-level guidance actions. Documents, reports 2019-03-11 10:31:50
HW sensing units development and setup report/manual Documents, reports 2019-03-11 10:31:20
System Specifications Final Report Open Research Data Pilot 2019-03-11 10:31:04
Long Range Communication Final Report and communication HW. Other 2019-03-11 10:31:13
First Workshop / Summer School Report Other 2019-03-11 10:31:42
Scientific and General Public Dissemination: Progress Report Documents, reports 2019-03-11 10:31:32
Optimal array geometry performance Documents, reports 2019-03-11 10:31:26
Short Range Communication Final Report and communication HW. Other 2019-01-08 15:40:08

Take a look to the deliverables list in detail:  detailed list of WiMUST deliverables.


year authors and title journal last update
List of publications.
2018 Andrea Caiti, Riccardo Costanzi, Davide Fenucci, Benedetto Allotta, Francesco Fanelli, Niccolò Monni, Alessandro Ridolfi
Marine Robots in Environmental Surveys: Current Developments at ISME - Localisation and Navigation
published pages: 69-86, ISSN: , DOI: 10.1007/978-3-319-70724-2_5
2016 A. Mantouka,P. Felisberto, P. Santos, D. Maslov, F. Zabel, M.Saleiro, S.M. Jesus and L. Sebastião
Development and testing of a Dual Accelerometer Vector Sensor for AUV acoustic surveys
published pages: , ISSN: , DOI: 10.3390/ecsa-3-E011
The 3rd International Electronic Conference on Sensors and Applications (ECSA 2016), 15–30 November 2016 Volume 3 2019-05-30
2015 Giovanni Indiveri, Alessandro Malerba
Complementary control for robots with actuator redundancy: an underwater vehicle application
published pages: 1-18, ISSN: 0263-5747, DOI: 10.1017/S0263574715000119
Robotica 2019-05-30
2017 Behzad Bayat, Naveena Crasta, Alessandro Crespi, António M. Pascoal, Auke Ijspeert
Environmental monitoring using autonomous vehicles: a survey of recent searching techniques
published pages: 76-84, ISSN: 0958-1669, DOI: 10.1016/j.copbio.2017.01.009
Current Opinion in Biotechnology 45 2019-05-30
2017 P. Santos, P. Felisberto, F. Zabel, S.M. Jesus and L. Sebastião
Testing of the Dual Accelerometer Vector Sensor mounted on an Autonomous Underwater Vehicle
published pages: , ISSN: , DOI:
Underwater Acoustics Conference and Exhibition\'2017 2019-05-30
2018 Paulo Jorge Maia Santos, Paulo Felisberto, Frederich Zabel, Sérgio Jesus, Luís Sebastião
Dual accelerometer vector sensor mounted on an autonomous underwater vehicle (AUV) - Experimental results
published pages: 55011, ISSN: , DOI: 10.1121/2.0000676
Proceedings of Meetings on Acoustics 2019-05-30
2017 Marcus Clements, Daniel Polani
Empowerment as a Generic Utility Function for Agents in a Simple Team Sport Simulation
published pages: 37-49, ISSN: , DOI: 10.1007/978-3-319-66471-2_5
2016 Nicola Catenacci Volpi, Daniela De Palma, Daniel Polani and Giovanni Indiveri
Computation of Empowerment for an Autonomous Underwater Vehicle
published pages: pp. 81 - 87, ISSN: , DOI: 10.1016/j.ifacol.2016.07.713
9th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2016, Leipzig, Germany, 29 June 2016 to 01 July 2016 Volume 49, Issue 15 2019-05-30
2016 B. Allotta, A. Caiti, R. Costanzi, D. Fenucci, N. Monni and A. Ridolfi
Multi-AUV localization and navigation exploiting acoustics
published pages: , ISSN: , DOI:
ICRA 2016 Workshop on Marine Robot Localization and Navigation 2019-05-30
2017 Maria Pleskach
WiMUST – A Fleet of AUVs for Seismic Surveys
published pages: , ISSN: , DOI:
2016 Sabina Zejnilović, Dieter Mitsche, João Gomes, Bruno Sinopoli
Extending the metric dimension to graphs with missing edges
published pages: 384-394, ISSN: 0304-3975, DOI: 10.1016/j.tcs.2015.10.022
Theoretical Computer Science 609 2019-05-30
2018 Vahid Hassani, António M. Pascoal, Asgeir J. Sørensen
Detection of mooring line failures using Dynamic Hypothesis Testing
published pages: , ISSN: 0029-8018, DOI: 10.1016/j.oceaneng.2018.01.021
Ocean Engineering 2019-05-30
2016 Pedro Abreu, Hélio Morishita, António Pascoal, Jorge Ribeiro, Henrique Silva.
Marine Vehicles with Streamers for Geotechnical Surveys: Modeling, Positioning, and Control,
published pages: pp. 458 - 464, ISSN: , DOI: 10.1016/j.ifacol.2016.10.448
Proc. 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), , Sept. 13-16, 2016 Volume 49, Issue 23 2019-05-30
2017 Marco Alberto Javarone, Daniele Marinazzo
Evolutionary dynamics of group formation
published pages: e0187960, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0187960
PLOS ONE 12/11 2019-05-30
2017 Daniela De Palma, Giovanni Indiveri
Output outlier robust state estimation
published pages: 581-607, ISSN: 0890-6327, DOI: 10.1002/acs.2673
International Journal of Adaptive Control and Signal Processing 31/4 2019-05-30
2017 Agni Mantouka, Paulo Felisberto, Paulo Santos, Friedrich Zabel, Mário Saleiro, Sérgio Jesus, Luís Sebastião
Development and Testing of a Dual Accelerometer Vector Sensor for AUV Acoustic Surveys
published pages: 1328, ISSN: 1424-8220, DOI: 10.3390/s17061328
Sensors 17/6 2019-05-30
2018 P. Felisberto, P. Santos, F. Zabel, S.M. Jesus and L. Sebastião
AUV mounted vector-sensor for seismic surveying,
published pages: , ISSN: , DOI:
MTS/IEEE/OES Oceans\'2018 2019-05-30
2017 Vahid Hassani, Asgeir J. Sørensen, António M. Pascoal, Michael Athans
Robust Dynamic Positioning of offshore vessels using mixed- μ synthesis modeling, design, and practice
published pages: 389-400, ISSN: 0029-8018, DOI: 10.1016/j.oceaneng.2016.10.041
Ocean Engineering 129 2019-05-30
2017 A. Pedro Aguiar, Florian A. Bayer, John Hauser, Andreas J. Häusler, Giuseppe Notarstefano, Antonio M. Pascoal, Alessandro Rucco, Alessandro Saccon
Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO
published pages: 207-226, ISSN: , DOI: 10.1007/978-3-319-55372-6_10
Sensing and Control for Autonomous Vehicles, Lecture Notes in Control and Information Sciences Book Series 2019-05-30
2017 Gianluca Antonelli, Filippo Arrichiello, Anrea Caiti, Giuseppe Casalino, Daniela De Palma, Giovanni Indiveri, Lorenzo Pollini and Enrico Simetti
ISME trends: Autonomous Surface and Underwater Vehicles for Geoseismic Survey
published pages: , ISSN: , DOI:
IMEKO International Conference on Metrology for The Sea 2019-05-30
2018 F. Arrichiello, S. Sarkar, S. Chiaverini, and G. Antonelli
Dynamic Modelling of a Streamer of Hydrophones Towed with an Autonomous Underwater Vehicle, Modelling and Simulation for Autonomous Systems
published pages: 179-192, ISSN: , DOI:
Lecture Notes in Computer Science Volume 10756 2019-05-30
2015 Gianfranco Parlangeli, Giovanni Indiveri
Single range observability for cooperative underactuated underwater vehicles
published pages: 129-141, ISSN: 1367-5788, DOI: 10.1016/j.arcontrol.2015.09.008
Annual Reviews in Control 40 2019-05-30
2017 Daniela De Palma, Filippo Arrichiello, Gianfranco Parlangeli, Giovanni Indiveri
Underwater localization using single beacon measurements: Observability analysis for a double integrator system
published pages: 650-665, ISSN: 0029-8018, DOI: 10.1016/j.oceaneng.2017.07.025
Ocean Engineering 142 2019-05-30
2017 Lara Briñón-Arranz, Alexandre Seuret, António Pascoal
Target Tracking via a Circular Formation of Unicycles * *This work was supported by FUI CAP2018 and H2020-ICT-2014-1/GA 645141 WIMUST projects and ROBOTEX (ANR-10-EQPX-44-01)
published pages: 5782-5787, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.422
IFAC-PapersOnLine 50/1 2019-05-30
2015 Habib Al-Khatib, Gianluca Antonelli, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Ivan Bielic de Jong, Henrique Duarte, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkal, Antonio Pascoal, Daniel Polani
Navigation, Guidance and Control of Underwater Vehicles within the Widely scalable Mobile Underwater Sonar Technology Project: an overview★
published pages: 189-193, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2015.06.031
IFAC-PapersOnLine 48/2 2019-05-30
2017 Benedetto Allotta, Riccardo Costanzi, Francesco Fanelli, Niccolò Monni, Libero Paolucci, Alessandro Ridolfi
Sea currents estimation during AUV navigation using Unscented Kalman Filter
published pages: 13668-13673, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2528
IFAC-PapersOnLine 50/1 2019-05-30
2016 Giovanni Indiveri, Daniela De Palma, Gianfranco Parlangeli
Single Range Localization in 3-D: Observability and Robustness Issues
published pages: 1853-1860, ISSN: 1063-6536, DOI: 10.1109/TCST.2015.2512879
IEEE Transactions on Control Systems Technology 24/5 2019-05-30
2016 Filippo Arrichiello, Gianluca Antonelli, and Elbert Kelholt
Shape estimate of a streamer of hydrophones towed by an Autonomous Underwater Vehicle
published pages: pp. 181-186, ISSN: , DOI: 10.1016/j.ifacol.2016.10.340
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016) 2019-05-30
2017 Joao Almeida, Carlos Silvestre, Antonio Pascoal
Synchronization of Multiagent Systems Using Event-Triggered and Self-Triggered Broadcasts
published pages: 4741-4746, ISSN: 0018-9286, DOI: 10.1109/TAC.2017.2671029
IEEE Transactions on Automatic Control 62/9 2019-05-30
2017 Francisco Curado Teixeira, João Quintas, António Pascoal
Robust methods of magnetic navigation of marine robotic vehicles * *Funding: This research was supported in part by the European project WiMUST (GA No. 645141) and the Portuguese FCT program [PEst-OE/EEI/LA0009/2011]. The authors gratefully acknowledge the sponsorhip of the South Korean Agency for Defense Development under a collaborative research agreement between KAIST and IST.
published pages: 3470-3475, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.851
IFAC-PapersOnLine 50/1 2019-05-30
2017 Claudia Soares, Joao Gomes, Pusheng Ji, António Pascoal
DIeSEL: DIstributed SElf-Localization of a Network of Underwater Vehicles
published pages: , ISSN: , DOI:
2017 J. Almeida, C. Silvestre, A. M. Pascoal
Event-triggered output synchronization of heterogeneous multi-agent systems
published pages: 1302-1338, ISSN: 1049-8923, DOI: 10.1002/rnc.3629
International Journal of Robust and Nonlinear Control 27/8 2019-05-30
2015 Daniela De Palma, Giovanni Indiveri, António M. Pascoal
A Null-Space-Based Behavioral Approach to Single Range Underwater Positioning∗∗This work was partially supported by the European Union\' Horizon 2020 research and innovation programme under the project WiMUST: Widely scalable Mobile Underwater Sonar Technology, grant agreement N°645141 (call H2020 ICT-23-2014 Robotics).
published pages: 55-60, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2015.10.258
IFAC-PapersOnLine 48/16 2019-05-30
2017 K. Kebkal, O. Kebkal, E. Glushko, V. Kebkal, L. Sebastião, A. Pascoal, J. Gomes, J. Ribeiro, H. Silva, M. Ribeiro, G. Indiveri
Underwater Acoustic Modems with Integrated Atomic Clocks for One-Way Travel-Time Underwater Vehicle Positioning
published pages: , ISSN: , DOI:
2015 Daniela De Palma, Giovanni Indiveri, Gianfranco Parlangeli
Multi-vehicle relative localization based on single range measurements
published pages: 17-22, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2015.06.457
IFAC-PapersOnLine 48/5 2019-05-30
2017 Christoph Salge, Daniel Polani
Empowerment As Replacement for the Three Laws of Robotics
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00025
Frontiers in Robotics and AI 4 2019-05-30
2017 Vahid Hassani, Tord F. Onstein, António M. Pascoal
Application of Data Driven Control to Dynamic Positioning
published pages: 12392-12397, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.2505
IFAC-PapersOnLine 50/1 2019-05-30
2018 S.M. Jesus
Sensor Array Optimization for Seismic Estimation via Structured Sparse Inversion
published pages: , ISSN: , DOI:
2016 Pedro Abreu, Gianluca Antonelli, Filippo Arrichiello, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Nicola Catenacci Volpi, Ivan Bielic de Jong, Daniela De Palma, Henrique Duarte, Joao Pedro Gomes, Jonathan Grimsdale, Giovanni Indiveri, Sergio Jesus, Konstantin Kebkal, Elbert Kelholt, Antonio Pascoal, Daniel Polani, Lorenzo Pollini, Enrico Simetti, Alessio Turetta
Widely Scalable Mobile Underwater Sonar Technology: An Overview of the H2020 WiMUST Project
published pages: 42-53, ISSN: 0025-3324, DOI: 10.4031/MTSJ.50.4.3
Marine Technology Society Journal 50/4 2019-05-30
2016 Giovanni Indiveri, Gianluca Antonelli, Filippo Arrichiello, Andrea Caffaz, Andrea Caiti, Giuseppe Casalino, Nicola Catenacci Volpi, Ivan Bielic de Jong, Daniela De Palma, Henrique Duarte, Joao Pedro Gomes, Jonathan Grimsdale, Sergio Jesus, Konstantin Kebkal, Elbert Kelholt, Antonio Pascoal, Daniel Polani, Lorenzo Pollini, Enrico Simetti and Alessio Turetta.
Overview and first year progress of the Widely scalable Mobile Underwater Sonar Technology H2020 project.
published pages: pp. 430 - 433, ISSN: , DOI: 10.1016/j.ifacol.2016.10.442
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016) September 13-16 Volume 49, Issue 23 2019-05-30
2018 P. Felisberto, P. Santos and S.M. Jesus
Field testing of the dual accelerometer vector-sensor mounted on an AUV for geophysical estimation
published pages: , ISSN: , DOI:
ICONS\'18 2019-05-30
2017 K. Kebkal, O. Kebkal, V. Kebkal, L. Sebastião, A. Pascoal, J. Ribeiro, G. Indiveri, E. Kelholt, S. Jesus, A. Mantouka
Performance Assessment of Underwater Acoustic Modems Operating Simultaneously at Different Frequencies in the Presence of Background Impulsive Noise Emitted by a Sparker
published pages: , ISSN: , DOI:
2018 53. P. Felisberto, P. Santos and S.M. Jesus
Acoustic pressure and particle velocity for spatial filtering of bottom arrivals
published pages: , ISSN: 0364-9059, DOI: 10.1109/JOE.2018.2807898
IEEE Journal of Oceanic Engineering 2019-05-30

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