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). Autonomous underwater vehicle (AUV) CL is constrained by the low throughput, high latency, and unreliability of of the acoustic channel used to communicate when submerged. Here we propose a CL algorithm specifically designed for full trajectory, or maximum a posteriori, estimation for AUVs. The method is
more » ... act and has the advantage that the broadcast packet sizes increase only linearly with the number of AUVs in the collective and do not grow at all in the case of packet loss. 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.
doi:10.1109/iros.2014.6942559 dblp:conf/iros/PaullSL14 fatcat:27dat77jwzgrjnqkgweye6rsha