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

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Toward informative planning for cooperative underwater localization

Summary


Jeffrey M. Walls and Ryan M. Eustice, Toward informative planning for cooperative underwater localization. In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pages 1-7, St. John's, Newfoundland, September 2014.

Abstract

This paper reports on an algorithm for planning a practical trajectory for a surface vehicle that provides range measurements to an autonomous underwater vehicle (AUV). We consider server-client cooperative localization in which a server vehicle provides relative range constraints to minimize the uncertainty of a client vehicle. Our approach assumes the nominal client mission plan is available and draws potential server trajectories from a set of parameterized trajectory classes. We provide a comparative evaluation over several simulations, for both a single client and multiple clients, demonstrating that our algorithm computes operationally practical server paths and performs well relative to existing planning frameworks.

Bibtex entry

@INPROCEEDINGS { jwalls-2014b,
    AUTHOR = { Jeffrey M. Walls and Ryan M. Eustice },
    TITLE = { Toward informative planning for cooperative underwater localization },
    BOOKTITLE = { Proceedings of the IEEE/MTS OCEANS Conference and Exhibition },
    YEAR = { 2014 },
    MONTH = { September },
    ADDRESS = { St. John's, Newfoundland },
    PAGES = { 1--7 },
}