Category
Topics in marine engineering
Related publications (34)
Triangular formation control using range measurements: an application to marine robotic vehicles
Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar
This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leader ...
2012Estimation of Relative Position and Coordination of Mobile Underwater Robotic Platforms through Electric Sensing
Auke Ijspeert, Yannick Morel, Mathieu Porez
In the context of underwater robotics, positioning and coordination of mobile agents can prove a challenging problem. To address this issue, we propose the use of electric sensing, with a technique inspired by weakly electric fishes. In particular, the app ...
Ieee2012Cooperative Localization for Autonomous Underwater Vehicles
This paper describes an algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles (AUVs). Whereas typical AUV navigation systems utilize pre-calibrated arrays of static transponders, our work seeks to create a fully mobile network of ...
2009Cooperative Localization for Autonomous Underwater Vehicles
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater V ...
Massachusetts Institute of Technology and the Woods Oceanographic Institution2009Consistent Cooperative Localization
In cooperative navigation, teams of mobile robots obtain range and/or angle measurements to each other and dead-reckoning information to help each other navigate more accurately. One typical approach is moving baseline navigation, in which multiple Autonom ...
2009Visual Mapping of Internal Pipe Walls using Sparse Features for Application on board Autonomous Underwater Vehicles
In this project an algorithm to generate a single image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wa ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2009Cooperation in Underwater Sensor Networks
Jean-Pierre Hubaux, Florent Frédéric Garcin
In underwater sensor networks (UWSNs), one of the main concerns is to reduce the energy consumption in order to maximize the lifetime. This work focuses on multiple sensor networks governed by different authorities. If the authorities are willing to cooper ...
IEEE2009Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images
Hannes Bleuler, Severin Stalder
Underwater navigation challenges the research community as a reliable navigation system is unavailable. Correctly matched landmarks could compensate the drift of dead reckoning navigation systems. Furthermore, they could be useful in side scan sonar image ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2008Cooperative Localization for Autonomous Underwater Vehicles
The absence of GPS underwater makes navigation for Autonomous Underwater Vehicles (AUVs) a difficult challenge. Without an external reference in the form of acoustic beacons at known positions, the vehicle has to rely on proprioceptive information obtained ...
Springer2008Distributed Communication in Swarms of Autonomous Underwater Vehicles
Effective communication mechanisms are a key requirement for schools of submersible robots and their meaningful deployment. Large schools of identical submersibles require a fully distributed communication system which scales well and optimises for ”many-t ...
The Australian National University2007