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 },
}