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Alexander Bahr

Related publications (20)

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Wireless radios are a great consumer of energy in sensor networks. Retrieving data from a remote deployment in an energy-efficient fashion is a difficult problem, and while solutions have been proposed in literature, real-world systems typically implement ...

2012

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The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and ...

2011

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Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...

2010

Consistent Cooperative Localization

Alexander Bahr

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 ...

2009

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 Institution2009

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 ...

2009

Cooperative Localization for Autonomous Underwater Vehicles

Alexander Bahr

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 ...

Springer2008

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions

Alexander Bahr

Trilateration is a technique for position estimation from range measurements which is often used in robot navigation. Most applications assume that there is no error associated with the landmarks used for trilateration. In cooperative navigation, in which ...

2007

Experiments in Moving Baseline Navigation using Autonomous Surface Craft

Alexander Bahr

This paper describes an on-going research effort to achieve real-time cooperative localization of multiple autonomous underwater vehicles. We describe a series of experiments that utilize autonomous surface craft (ASC), equiped with undersea acoustic modem ...

2006

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE0