This paper outlines an architecture for underwater acoustic cooperative localization. Our system leverages communica-tion within an acoustic network to both share navigation information and measure the relative range between vehicles. We employ a factor graph framework for vehicle position estimation. The underlying structure of the factor graph formulation provides a low-bandwidth estimation framework that is tolerant to communication dropout. We detail the hardware and software used to implement a three vehicle cooperative network and provide a performance summary over several field trials. Categories and Subject Descriptors I.2.9 [Robotics]: Autonomous vehicle
The lack of GPS signal in the underwater environment poses limitations in terms of localization and ...
Traditionally, underwater localization and time-synchronization are performed separately. This, howe...
Localization is a crucial requirement for mobile underwater systems. Real-time position information ...
Abstract—This paper reports on an underwater cooperative localization algorithm for faulty low-bandw...
Abstract — This paper reports on an underwater cooperative localization algorithm for faulty low-ban...
This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehi...
A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described ...
This work describes a system for acoustic-based navigation that relies on the addition of localizati...
This work describes a system for acoustic-based navigation that relies on the addition of localizati...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
This paper reports on an exact, real-time solution for server-client cooperative localization over a...
The lack of GPS signal in the underwater environment poses limitations in terms of localization and ...
This paper reports on an exact, real-time solution for server-client cooperative localization over a...
The lack of GPS signal in the underwater environment poses limitations in terms of localization and ...
Traditionally, underwater localization and time-synchronization are performed separately. This, howe...
Localization is a crucial requirement for mobile underwater systems. Real-time position information ...
Abstract—This paper reports on an underwater cooperative localization algorithm for faulty low-bandw...
Abstract — This paper reports on an underwater cooperative localization algorithm for faulty low-ban...
This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehi...
A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described ...
This work describes a system for acoustic-based navigation that relies on the addition of localizati...
This work describes a system for acoustic-based navigation that relies on the addition of localizati...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
Localisation is essential for an Autonomous Underwater Vehicle (AUV) to perform its mission and to g...
This paper reports on an exact, real-time solution for server-client cooperative localization over a...
The lack of GPS signal in the underwater environment poses limitations in terms of localization and ...
This paper reports on an exact, real-time solution for server-client cooperative localization over a...
The lack of GPS signal in the underwater environment poses limitations in terms of localization and ...
Traditionally, underwater localization and time-synchronization are performed separately. This, howe...
Localization is a crucial requirement for mobile underwater systems. Real-time position information ...