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Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due t ...
This thesis tackles the problem of robotic odour source localisation, that is, the use of robots to find the source of a chemical release. As the odour travels away from the source, in the form of a plume carried by the wind or current, small scale turbule ...
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 ...
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 ...
This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but h ...