Gemma: A Cooperative Control System To Collect Environmental Marine Waste

GEMMA is a Cooperative Control System designed with free software tools. The system was developed through an agreement between the UIB2 and "Conselleria de Medi Ambient de les Illes Balears". The system was developed to manage and coordinate several mobile resources (boats, planes) dedicated to maintain clean coastal and beach waters in the Balearic Islands. The implemented system, based on a client server architecture, is flexible and accepts several configurations depending on the information magnitude or the localization and dimension servers. The features that cause the flexibility of the system are: modularity (each functionality is independent to the others), cross platform (each module can run independently on Linux, Windows, Mac Os X,...) and distributed (depending on the requirements it is possible to install modules in different network points).