PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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Underwater vehicle navigation: Recent advances and new challenges

Summary


James C. Kinsey, Ryan M. Eustice and Louis L. Whitcomb, Underwater vehicle navigation: Recent advances and new challenges. In IFAC Conf. on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.

Abstract

The paper surveys recent advances in underwater vehicle navigation and identiļ¬es future research challenges. Improvements in underwater navigation sensor technology and underwater navigation algorithms are enabling novel underwater vehicles and novel underwater vehicle missions. This paper first reviews advances in underwater navigation sensor technology. Second, advances in deterministic and stochastic underwater navigation methodologies and algorithms are reviewed. Finally, future challenges in underwater vehicle navigation are articulated, including near-bottom navigation, vehicle state estimation, optimal survey, environmental estimation, multiple-vehicle navigation, and mid-water navigation. Advances in vehicle navigation will enable new missions for underwater vehicle (commercial, scientific, and military) which were previously considered impractical or infeasible.

Bibtex entry

@INPROCEEDINGS { jkinsey-2006a,
    AUTHOR = { James C. Kinsey and Ryan M. Eustice and Louis L. Whitcomb },
    TITLE = { Underwater vehicle navigation: Recent advances and new challenges },
    BOOKTITLE = { IFAC Conf. on Manoeuvring and Control of Marine Craft },
    YEAR = { 2006 },
    MONTH = { September },
    ADDRESS = { Lisbon, Portugal },
}