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Cooperative Localization for Autonomous Underwater Vehicles

Publications associées (38)

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Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

Monogenic Filtering Based Automatic Defect Detection from a Single Fringe Pattern

Pramod Rastogi, Rishikesh Dilip Kulkarni

We propose a fringe analysis algorithm for the automatic detection of defects from a single fringe pattern (FP). Typically, the surface defects exhibit high fringe density areas in the FP. Consequently, high fringe density regions can be utilized as a sign ...

Springer, Cham2019

Asymptotically Optimal Contextual Bandit Algorithm Using Hierarchical Structures

Hakan Gökcesu, Kaan Gökcesu

We propose an online algorithm for sequential learning in the contextual multiarmed bandit setting. Our approach is to partition the context space and, then, optimally combine all of the possible mappings between the partition regions and the set of bandit ...

2019

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

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, 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 ...

IEEE2019

Distributed State Estimation and Cooperative Path-Following Under Communication Constraints

Francisco Fernandes Castro Rego

The main topics of this thesis are distributed estimation and cooperative path-following in the presence of communication constraints, with applications to autonomous marine vehicles. To this end, we study algorithms that take explicitly into account the c ...

EPFL2018

Many modern services need to routinely perform tasks on a large scale. This prompts us to consider the following question: How can we design efficient algorithms for large-scale computation? In this thesis, we focus on devising a general strategy to addr ...

EPFL2018

This paper introduces an exact method to schedule the internal transshipment process at cross-docks in less-than-truckload industries. An integer programming formulation is presented to minimize the cost of double handling by synchronizing two types of dec ...

Pergamon-Elsevier Science Ltd2017

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We study the classical problem of maximizing a monotone submodular function subject to a cardinality constraint k, with two additional twists: (i) elements arrive in a streaming fashion and (ii) m items from the algorithm’s memory might be removed after th ...

2017

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In recent years, global navigation satellite system (GNSS)-based navigation in high earth orbits (HEOs) has become a field of research interest since it can increase the spacecraft’s autonomy, thereby reducing the operating costs. However, the GNSS availab ...

Mdpi Ag2017

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Abstract—In this paper, we consider the problem of maximizing a monotone submodular function subject to a cardinality constraint, with two added twists: The computation is distributed across a number of machines, and we require the solution to be robust ag ...

2017