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

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An Architecture for Cooperative Localization in Underwater Acoustic Networks

Summary


Jeffrey M. Walls and Ryan M. Eustice, An Architecture for Cooperative Localization in Underwater Acoustic Networks. In Proceedings of the ACM International Conference on Underwater Networks and Systems (WUWNet), pages 1-5, Washington D.C., USA, October 2015.

Abstract

This paper outlines an architecture for underwater acoustic cooperative localization. Our system leverages communica- tion within an acoustic network to both share navigation information and measure the relative range between vehicles. We employ a factor graph framework for vehicle position estimation. The underlying structure of the factor graph formulation provides a low-bandwidth estimation framework that is tolerant to communication dropout. We detail the hardware and software used to implement a three vehicle cooperative network and provide a performance summary over several field trials.

Bibtex entry

@INPROCEEDINGS { jwalls-2015c,
    AUTHOR = { Jeffrey M. Walls and Ryan M. Eustice },
    TITLE = { An Architecture for Cooperative Localization in Underwater Acoustic Networks },
    BOOKTITLE = { Proceedings of the ACM International Conference on Underwater Networks and Systems (WUWNet) },
    YEAR = { 2015 },
    MONTH = { October },
    ADDRESS = { Washington D.C., USA },
    PAGES = { 1--5 },
}