Cooperative Localization for Autonomous Underwater Vehicles
نویسندگان
چکیده
منابع مشابه
Cooperative Localization for Autonomous Underwater Vehicles
This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles (AUVs). Whereas typical AUV navigation systems utilize pre-calibrated arrays of static transponders, our work seeks to create a fully mobile network of AUVs that perform acoustic ranging and data exchange with one another to achieve cooperative positioning for extended duration missions over...
متن کاملCooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles
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Due to its applications in marine research, oceanographic, and undersea exploration, Autonomous Underwater Vehicles (AUVs) and the related control algorithms has been recently under intense investigation. In this work, we address target detection and tracking issues, proposing a control strategy which is able to benefit from the cooperation among robots within the fleet. In particular, we intro...
متن کاملConcurrent Mapping and Localization for Multiple Autonomous Underwater Vehicles
This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research in development of concurrent mapping and localization (CML) techniques for a single vehicle. In this pape...
متن کاملConcurrent Mapping and Localization for Autonomous Underwater Vehicles
Although traditional tracking and multitarget tracking have examined the problems of estimating multiple targets in an uncertain environment, the addition of navigational uncertainty results in additional complexities which are not addressed by these methodologies. Concurrent mapping and localization refers to the use of environmental cues to both build a map and reduce navigational uncertainty...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2009
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364908100561