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Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging
Name
2010.02861.pdf
Description
Accepted version
Size
485.57 KB
Format
Adobe PDF
Checksum (MD5)
ff41982eb745d1a09131ad7c71aa4fb0
Author(s)
Papalia, Alan
Leonard, John
Date Issued
2020
Journal
2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020
Publisher
IEEE
Citation
Papalia, Alan and Leonard, John. 2020. "Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging." 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020.
Version
Author's final manuscript
Abstract
© 2020 IEEE. Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality depends on network topology, with degenerate topologies, referred to as low-rigidity configurations, leading to ambiguous or highly uncertain localization results. This paper presents tools for rigidity-based analysis, planning, and control of a multi-AUV network which account for sensor noise and limited sensing range. We evaluate our long-term planning framework in several two-dimensional simulated environments and show we are able to generate paths in feasible time and guarantee a minimum network rigidity over the full course of the paths.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/AUV50043.2020.9267910
