Subproject 1 (UNED): control strategies for control and dynamic positioning for ships in cooperative actions.

• Mathematical modeling of vehicles.
• Develop and implementation of control systems and algorithms for dynamic positioning.
• Develop and implementation of control algorithm for manoeuvring.
• Simulation environment of stage.

Subproject 2 (UCM): design and implementation of on board systems, and cooperative methodologies and protocols.

• Design of modes and protocols of cooperation.
• Modular system of control.
• Communication system
• Automatic generator of code.
• Experimental system

Subproject 3 (UNICAN): Environment for cooperative marine vehicles.

• Design of stages
• Simulation environment of stages.
• Study of control system integration in real ships.
• Design and implementation of control algorithm.

Subproject 4 (UPM): Design of marine vehicles for cooperative actions.

• Design of a set of marine vehicles.
• Definition of tests and trials for different cooperative actions.
• Communications systems.
• Construction of a set of scaled marine vehicles.