Surface Unmanned Multipurpose Research Maicol Laurenza a,1 , Gianluca Pepe a , Federica Mezzani a , Alec Malito b , Massimo De Lauro b , Salvatore Mauro b , Antonio Culla a and Antonio Carcaterra a a University of Rome, Sapienza, Dept. of Mechanical and Aerospace Engineering, Rome, Italy b Institute of Marine Engineering, CNR-INM, Rome, Italy Abstract. This paper presents the preliminary activities undertaken for the research project SUNMARE (Surface UNmanned multipurpose research MARine vEhicle), which aims at the development of an innovative autonomous platform for marine, oceanographic, lacustrine, and submerged/semi-submerged cultural heritage monitoring/measurements. SUNMARE is a modular ship comprising of a mother unmanned ship and a smaller autonomous vehicle. Through an innovative fully autonomous launch and recovery system (LARS), the Unmanned surface vehicle (USV) can detach and reconnect to the mother ship. The architecture of the LARS and the on-purposely designed control algorithms are here presented together with statistical recovery success analysis concerning the autonomous dynamic connection of the vehicles, so to assess the reliability of the system. Keywords. Unmanned surface vehicle (USV), Launch and recovery system, Optimal control 1. Introduction and SUNMARE project Recent improvements in sensor technology, combined with increasing interest in oceanographic measurements, are increasingly pushing the development of autonomous marine vehicles. Public and private research institutions are making considerable efforts in financing intelligent marine vehicles able to autonomously perform a wide range of operations and to collect a large quantity of as much as possible heterogeneous data [1- 3]. SUNMARE-Surface UNmanned multipurpose research MARine vEhicle projects, funded by Regione Lazio (see Acknowledgments), stands in this scenario. The aim of SUNMARE project is the development of a multipurpose autonomous research vessel and it presents an entire series of innovative features. From structural point of view, the hull is meant to be transportable, modular, and customizable. Moreover, it adapts to different missions, is resilient so to stand different and adverse sea conditions, and is eco-sustainable, made up of recyclable materials and equipped with a green propulsion system. Nevertheless, the core of the project and the aspect ensuring the reliability of the overall system is the control architecture, consisting of a complex network of algorithms with a dual sphere of application: on one hand, overall autonomous guidance must be performed [4], and it includes decision making processes, obstacle avoidance [5], safe guidance in surrounded environment conditions, such as harbour manoeuvres [6]. On the other hand, control algorithms are adapted for specific oceanographic measurement purposes. In this specific context stands the case here 1 Maicol Laurenza, University of Rome Sapienza, Dept. of Mechanical and Aerospace Engineering, Rome, Italy; E-mail: maicol.laurenza@uniroma1.it. Marine Vehicle: SUNMARE Project Technology and Science for the Ships of the Future E. Rizzuto and V. Ruggiero (Eds.) IOS Press, 2022 © 2022 The authors and IOS Press. All rights reserved. doi:10.3233/PMST220062 522