Decentralized cooperative trajectory estimation for autonomous underwater vehicles
Name
Leonard_Decentralized cooperative.pdf
Size
1.68 MB
Format
Adobe PDF
Checksum (MD5)
4f7bafd4910ca586b4f71a1e5e72a623
Author(s)
Paull, Liam
Seto, Mae
Leonard, John Joseph
Date Issued
September 2014
Journal
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Paull, Liam, Mae Seto, and John J. Leonard. “Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles.” 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2014).
Version
Author's final manuscript
Abstract
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 exact 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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2014.6942559
