PhD student

Funding : grant from PACA region – SUBSEA-TECH company

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Matheus Laranjeira was born in 1990 in Salvador, Bahia, Brazil. He participated in the BRAFITEC, a Franco-Brazilian academic exchange program, obtaining the engineering diploma in robotics from ENSTA Bretange in 2014 and the electrical engineering diploma from the Federal University of Bahia in 2015. He started his doctoral thesis at the COSMER laboratory in January 2016.

Research subject

For reasons of energy autonomy and to facilitate data transfer, remotely operated underwater robots (ROVs) are connected by a tether to a surface vessel. Large ROVs can be deployed several hundred meters from their base but their working space prevents them from being deployed in shallow water (< 7m). On the other hand, small modules can be deployed in shallow water but cannot manage too long a tether length, which destabilizes them and makes them non-operating. Their proximity to coastal areas requires a proximity to their home vessel, which compromises the discretion of the operation.
SUBSEA-TECH, a partner company in the project, has imagined a fleet of small ROVs connected with an umbilical between each other: several identical small modules are distributed throughout the tether to compensate for its movements and allow the terminal module to behave as if it were near its base.
The objective of this thesis is to control the combined and coordinated navigation of a line of scouting robots connected by an umbilical using in a combined way the information given by the on-board sensors (camera, sonar).


Instructor at the MMI department of the IUT of Toulon (64h of algorithmic training).