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A Review on Optimal Placement of Sensors for Cooperative Localization of AUVs

Xu Bo, Asghar A. Razzaqi, Ghulam Farid
2019 Journal of Sensors  
In this paper, a comparative survey of sensors' optimal formation techniques for cooperative localization of AUVs has been presented.  ...  One of the most recent solutions for this is the use of surface vehicles (sensors) for cooperative localization of the underwater vehicles (targets) by measuring their relative positions.  ...  In both [36, 37] , the authors presented analytical solutions of sensors formation for cooperative localization of AUVs using AOA method.  ... 
doi:10.1155/2019/4276987 fatcat:qy6mwvsbnbcc5psr7hzqjv54i4

Placement of Surface Sensors for Cooperative Localization of Submerged Autonomous Underwater Vehicles

Bo Xu, Asghar Abbas Razzaqi
2020 International Journal of Innovative Computing, Information and Control  
Cooperative localization using surface sensors is an effective method for localization of submerged Autonomous Underwater Vehicles (AUVs), especially for long duration and wide area operations.  ...  In this paper, a new method for obtaining optimal formation of surface sensors has been presented for multiple AUVs cooperative localization system.  ...  Optimal sensor formation was studied in [10] for static localization of target using Time of Arrival (TOA), range only and bearing only measurements.  ... 
doi:10.24507/ijicic.16.04.1477 fatcat:gpu3gkd3n5fxneg4mbwcvdszrq

Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method

Xu Bo, Asghar Razzaqi, Xiaoyu Wang
2018 Sensors  
The cooperative localization of submerged autonomous underwater vehicles (AUVs) using the Time Difference of Arrival (TDOA) measurements of surface AUV sensors is an effective method for many applications  ...  In this paper, a novel method for obtaining the optimal formation of sensor AUVs has been presented for the three-dimensional (3D) cooperative localization of targets using the TDOA technique.  ...  Range measurement and TDOA are more accurate and commonly used methods for the cooperative localization of AUVs.  ... 
doi:10.3390/s18124442 fatcat:woidthjpbbgy7msqwnasvbrcky

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Josué González-García, Alfonso Gómez-Espinosa, Enrique Cuan-Urquizo, Luis Govinda García-Valdovinos, Tomás Salgado-Jiménez, Jesús Arturo Escobedo Cabello
2020 Applied Sciences  
For a long time, acoustic systems have been the main approach for solving these challenges. However, they present their own shortcomings, which are more relevant for AUV teams.  ...  In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems.  ...  Authors explored the use of a single-beacon vehicle for range-only localization to support other AUVs.  ... 
doi:10.3390/app10041256 fatcat:5no5dqan4nfd7gj77rjatffzsa

An Architecture for Cooperative Localization in Underwater Acoustic Networks

Jeffrey M. Walls, Ryan M. Eustice
2015 Proceedings of the 10th International Conference on Underwater Networks & Systems - WUWNET '15  
This paper outlines an architecture for underwater acoustic cooperative localization.  ...  The cooperative localization process is highlighted in red.  ...  Although AUV-B used only the local subset of range factors, its estimate was able to benefit from relative range observations and the difference compared to the centralized estimator is small.  ... 
doi:10.1145/2831296.2831335 dblp:conf/wuwnet/WallsE15 fatcat:lbtlegv4pzhjlligwo6w2afe34

Cooperative localization of marine vehicles using nonlinear state estimation

G Papadopoulos, M F Fallon, J J Leonard, N M Patrikalakis
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization.  ...  We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined  ...  [1] examined locally weak observability of the marine cooperative localization framework, presenting results for an EKF used for cooperative localization, with simulations and using data from two surface  ... 
doi:10.1109/iros.2010.5650250 dblp:conf/iros/PapadopoulosFLP10 fatcat:lqg6fkotcneizcvncd6vb35tye

Directions of Development of the Autonomous Unmanned Underwater Vehicles. A Review

Mateusz Orłowski
2022 Maritime Technical Journal  
cooperating with each other in a swarm.  ...  Their solutions includes development of new control laws containing algorithms to prevent collisions - for unmanned vehicles with elements of the underwater environment and for several underwater vehicles  ...  Visual localization The visual method uses cameras as sensors.  ... 
doi:10.2478/sjpna-2022-0005 fatcat:qlcnes4ufbfalch7blt7nrzwga

AUV Navigation and Localization: A Review

Liam Paull, Sajad Saeedi, Mae Seto, Howard Li
2014 IEEE Journal of Oceanic Engineering  
Past approaches to solve the AUV localization problem have employed expensive inertial sensors, used installed beacons in the region of interest, or required periodic surfacing of the AUV.  ...  Advances in underwater communications and the application of simultaneous localization and mapping (SLAM) technology to the underwater realm have yielded new possibilities in the field.  ...  Cooperative Navigation In cooperative navigation (CN), AUV teams localize using proprioceptive sensors as well as communications updates from other team members.  ... 
doi:10.1109/joe.2013.2278891 fatcat:t5hdclztqjgcpjrsdmglei5g2m

Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory

2017 Sensors  
Cooperative localization (CL) is considered a promising method for underwater localization with respect to multiple autonomous underwater vehicles (multi-AUVs).  ...  In this paper, we proposed a CL algorithm based on information entropy theory and the probability hypothesis density (PHD) filter, aiming to enhance the global localization accuracy of the follower.  ...  Author Contributions: Lichuan Zhang and Tonghao Wang performed the simulations and wrote the paper; Feihu Zhang revised this paper and offered some useful suggestions in methodologies and simulations;  ... 
doi:10.3390/s17102286 pmid:28991191 pmcid:PMC5677013 fatcat:d3b3jfjnzba2xoxzouxyrb4hmy

Exploration of underwater structures with cooperative heterogeneous robots

D. Spenneberg, C. Waldmann, R. Babb
2005 Europe Oceans 2005  
Three heterogeneous planned or existing underwater robots are presented and possible approaches for cooperative behavior are discussed.  ...  Possible application scenarios for future deployment are presented.  ...  use on the surface, and various other low performance sensors for use as fallbacks.  ... 
doi:10.1109/oceanse.2005.1513155 fatcat:hr5bh3ptgfcnld6i7h2ipjln2y

Cooperative AUV Navigation using a Single Maneuvering Surface Craft

Maurice F Fallon, Georgios Papadopoulos, John J Leonard, Nicholas M Patrikalakis
2010 The international journal of robotics research  
This paper describes the experimental implementation of an online algorithm for cooperative localization of submerged autonomous underwater vehicles (AUVs) supported by an autonomous surface craft.  ...  This approach uses the Woods Hole Oceanographic Institution (WHOI) acoustic modem to exchange vehicle location estimates while simultaneously estimating inter-vehicle range.  ...  This paper provides an experimental investigation of techniques for cooperative localization of multiple AUVs, using a single surface vehicle to aid the navigation of submerged vehicles.  ... 
doi:10.1177/0278364910380760 fatcat:eg3zuoj3s5dbbe4rexzdbc6kxa

Cooperative AUV Navigation Using a Single Surface Craft [chapter]

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard
2010 Springer Tracts in Advanced Robotics  
This approach uses the WHOI Acoustic Modem to exchange vehicle localization estimates -albeit at low transmission rates -while simultaneously estimating inter-vehicle range.  ...  Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization  ...  Cooperative Localization Under Water This paper retains the framework for underwater localization previously introduced in [1] and also used in [4] .  ... 
doi:10.1007/978-3-642-13408-1_30 fatcat:3yoqa2obxbhj3by6qskct4x4ku

Cooperative Localization for Autonomous Underwater Vehicles

Alexander Bahr, John J. Leonard, Maurice F. Fallon
2009 The international journal of robotics research  
We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain.  ...  of AUVs, is proposed.  ...  Cooperative Navigation in the Context of SLAM The problem of localization can be viewed in the more general context of Simultaneous Localization and Mapping (SLAM).  ... 
doi:10.1177/0278364908100561 fatcat:rljfiehljvfnbhguxf6nqkdxoi

A multi-AUV system for cooperative tracking and following of leopard sharks

Dylan Shinzaki, Chris Gage, Sarah Tang, Mark Moline, Barrett Wolfe, Christopher G. Lowe, Christopher Clark
2013 2013 IEEE International Conference on Robotics and Automation  
Each AUV circles the target by tracking circles of different radii and at different phase angles with respect to the target so as to obtain simultaneous sensor vantage points and minimize chance of AUV  ...  This paper presents a system of multiple coordinating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter.  ...  Stationary arrays can provide accurate information, but only when the fish is in range.  ... 
doi:10.1109/icra.2013.6631163 dblp:conf/icra/ShinzakiGTMWLC13 fatcat:dknyuaye5fa2rjvjaa5742dp6q

Decentralized cooperative trajectory estimation for autonomous underwater vehicles

Liam Paull, Mae Seto, John J. Leonard
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Autonomous agents that can communicate and make relative measurements of each other can improve their collective localization accuracies. This is referred to as cooperative localization (CL).  ...  The approach allows for AUV missions to be achieved more efficiently since: 1) vehicles waste less time surfacing for GPS fixes, and 2) payload data is more accurately localized through the smoothing approach  ...  Future work in this direction includes a large multivehicle deployment and extension to the full cooperative simultaneous localization and mapping scenario.  ... 
doi:10.1109/iros.2014.6942559 dblp:conf/iros/PaullSL14 fatcat:27dat77jwzgrjnqkgweye6rsha
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