AUDACITY

The AUDACITY project was launched with the aim of developing an advanced Guidance, Navigation, and Control (GNC) system for surface vehicles, such as robotic boats. This system will enable vehicles to move autonomously, collect real-time data, and—when necessary—be remotely operated by a human through an intuitive Human-Machine Interface (HMI).

At the core of the system is a modular and flexible technology designed to adapt to different types of vehicles. It can integrate sensors that detect vehicle motion (such as accelerometers and gyroscopes), high-precision satellite positioning tools (GPS/GNSS-RTK), and actuators for propulsion and steering (such as rudders or thrusters). In addition, it includes environmental sensors—such as those for measuring waves—and instruments for monitoring the structural stress of the vehicle, like load cells and pressure sensors.

The AUDACITY GNC system consists of two main software components: one operates onboard the vehicle, managing its movements in real time; the other runs on a control station, allowing an operator to interact with the vehicle, visualize its data, or take control if needed.

Both components are built on a modern architecture called ROS2 (Robot Operating System 2), which makes the system scalable and easily reconfigurable for different vehicles and missions. Users will be able to select which modules to activate depending on the vehicle's configuration and purpose.

Finally, AUDACITY will also include a virtual simulator based on the Gazebo and RViz environments, allowing the creation of a "digital twin" of the vehicle. This will be useful both for safely testing the system and for training personnel without necessarily using the real vehicle.