Project name: Unmanned system for maritime security and environmental monitoring
Project acronym: MORUS
Dates: 01.04.2015 - 28.02.2019
Total budget: 834,929.00 EUR
Funding: NATO Science for Peace
Grant Agreement number: 984807

The main goal of the MORUS project is the design and development of a fully operational complex robotic system prototype comprised of an Unmanned Aerial Vehicle (UAV) and an Unmanned Underwater Vehicle (UUV) capable of autonomous and cooperative mission executions related to environmental, border and port security.

The proposed research is part of an internationally competitive field, with the main objective to design and develop an autonomous aerial and marine robotic system which is capable of collective engagement in missions taking place in dynamic and nondeterministic environments.

MORUS objectives are summarised as follows:

  • Design and construction of an UAV with docking and transportation mechanisms,
  • Visual-feedback-based docking and gripping algorithm,
  • Design of an augmented-reality and easy to operate human-machine interface for simultaneous control of aerial and marine robots,
  • Enhancement of the autonomous navigation capabilities and operational supportability in remote locations with little or no local support,
  • Agile UUV redeployment through cooperation with an UAV,
  • Data exchange between the UUV and UAV through cooperative control and estimation.




Project partners:

  1. Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Faculty of Electrical Engineering and Computing
  2. University of Limerick
  3. University of Sarajevo, Faculty of Electrical Engineering
  4. Laboratory for Underwater Systems and Technologies, University of Zagreb, Faculty of Electrical Engineering and Computing
  5. University of Dubrovnik



Lovro Marković presented his paper at...

Within NATO SfP project MORUS and EU project AeRoTwin, Lovro Marković and Marko Car attended the European Control Conference from 25th to 28th of June, 2019 in Naples, Italy. At the conference Lovro presented their paper titled Geometric Tracking Control of Aerial Robots Based on Centroid Vectoring.

Their paper focuses on presenting the concept of geometric tracking control for an unmanned aerial vehicle (UAV) based on variations in centerof gravity (CoG). The proposed UAV model has the ability to exploit its dynamic CoG as a means of stabilization and control. A mathematical model of such a system is used as a base for developing the nonlinear geometric tracking controller on the special Euclidean group SE(3). Finally, two unique UAV models, presented with a trajectory tracking problem, are simulated in a realistic simulation environment. Performance of the selected control terms is analyzed based on relevant simulation results.

Author: Ivana Mikolić
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