A measurement distribution framework for cooperative navigation using multiple AUVs
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Leonard_A measurement.pdf
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495.41 KB
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Author(s)
Fallon, Maurice Francis
Papadopoulos, Georgios
Leonard, John Joseph
Date Issued
May 2010
Journal
IEEE International Conference on Robotics and Automation (ICRA), 2010
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Fallon, Maurice F, Georgios Papadopoulos, and John J Leonard. A Measurement Distribution Framework for Cooperative Navigation Using Multiple AUVs. IEEE International Conference on Robotics and Automation (ICRA), 2010. Pp. 4256–4263. IEEE, 2010. © Copyright 2010 IEEE
Version
Final published version
Abstract
In recent years underwater survey and surveillance missions with more than a single Autonomous Underwater Vehicle (AUV) have become more common thanks to more reliable and cheaper platforms, as well as the addition of remote command and control communications using, for example, the WHOI acoustic modem. However cooperative navigation of AUVs has thus far been limited to a single AUV supported by a dedicated surface vehicle with access to GPS. In this paper a scalable and modular framework is presented in which any number of vehicles can broadcast, forward and acknowledge range, dead-reckoning, feature and GPS measurements so that the full fleet of AUVs can navigate and cooperate in a consistent and accurate manner. The approach is independent of the resultant application-such as recursive state estimation or full pose optimization. Trade-offs between the number of vehicles, the condition of the communication channel and rate at which updates are available are also discussed. Finally performance is illustrated in a realistic experiment.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509869
