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dc.contributor.authorFallon, Maurice Francis
dc.contributor.authorKaess, Michael
dc.contributor.authorJohannsson, Hordur
dc.contributor.authorLeonard, John Joseph
dc.date.accessioned2011-06-10T17:44:10Z
dc.date.available2011-06-10T17:44:10Z
dc.date.issued2011-05
dc.identifier.otherPaper TuP212.5
dc.identifier.urihttp://hdl.handle.net/1721.1/64410
dc.description.abstractThis paper presents an on-line nonlinear least squares algorithm for multi-sensor autonomous underwater vehicle (AUV) navigation. The approach integrates the global constraints of range to and GPS position of a surface vehicle or buoy communicated via acoustic modems and relative pose constraints arising from targets detected in side-scan sonar images. The approach utilizes an efficient optimization algorithm, iSAM, which allows for consistent on-line estimation of the entire set of trajectory constraints. The optimized trajectory can then be used to more accurately navigate the AUV, to extend mission duration, and to avoid GPS surfacing. As iSAM provides efficient access to the marginal covariances of previously observed features, automatic data association is greatly simplified — particularly in sparse marine environments. A key feature of our approach is its intended scalability to single surface sensor (a vehicle or buoy) broadcasting its GPS position and simultaneous one-way travel time range (OWTT) to multiple AUVs. We discuss why our approach is scalable as well as robust to modem transmission failure. Results are provided for an ocean experiment using a Hydroid REMUS 100 AUV co-operating with one of two craft: an autonomous surface vehicle (ASV) and a manned support vessel. During these experiments the ranging portion of the algorithm ran online on-board the AUV. Extension of the paradigm to multiple missions via the optimization of successive survey missions (and the resultant sonar mosaics) is also demonstrated.en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N000140711102)en_US
dc.language.isoen_US
dc.publisherIEEE Computer Societyen_US
dc.relation.isversionofhttps://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=34&Number=1555en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceMIT web domainen_US
dc.titleEfficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonaren_US
dc.typeArticleen_US
dc.identifier.citationFallon, Maurice F. et al. "Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar" IEEE International Conference on Robotics and Automation. Proceedings, (ICRA), May 9-13, 2011,Shanghai International Conference Center, Shanghai, China.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverLeonard, John J.
dc.contributor.mitauthorFallon, Maurice Francis
dc.contributor.mitauthorKaess, Michael
dc.contributor.mitauthorJohannsson, Hordur
dc.contributor.mitauthorLeonard, John Joseph
dc.relation.journal2011 IEEE International Conference on Robotics and Automation. Proceedings (ICRA)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsFallon, Maurice F.; Kaess, Michael; Johannsson, Hordur; Leonard, John J.
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
mit.licenseOPEN_ACCESS_POLICYen_US


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