=====The NTNU Fish Otter Project - A fish tracking system=====

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The NTNU fish Otter project aims to develop an autonomous multi-agent system for search, localization and persistent tracking of acoustic fish tags in a maritime environment. This is accomplished through a fleet of vehicles, mainly consisting of four small catamarans that has been equipped with acoustic receivers. Research topics consist of:

  * Optimized hardware and software design for vehicle controls, communications, sensors and payload integrations.
  * Optimal search, path and mission planning.
  * Underwater target localization and stealthy tracking.
  * Multi-agent formation control, edge intelligence and machine learning.
  * Adaptive and simultaneous environmental mapping and tracking.
**
Parts of this webpage are outdated.** The most current information are available in the papers listed in the [[literature|Academic Literature]] section.
===== The Fish Otter Vessel =====


The NTNU Fish Otter is a small unmanned catamaran propelled by two electrical fixed thrusters. The vessel is based around the hull, thrusters and power-distribution from a [[https://www.maritimerobotics.com/otter|Maritime Robotics Otter]], but with sensors and control systems designed at NTNU. The software is based on the [[https://lsts.fe.up.pt/|LSTS toolchain]].
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This wiki is maintained by [[https://www.ntnu.no/ansatte/nikolal|Nikolai Lauvås]], PhD student at the Department of Engineering Cybernetics, NTNU.