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

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Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles

Summary


Pose-graph SLAM for underwater navigation. Stephen M. Chaves, Enric Galceran, Paul Ozog, Jeffrey M. Walls and Ryan M. Eustice, in Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer, 2017.

Abstract

This chapter reviews the concept of pose-graph simultaneous localization and mapping (SLAM) for underwater navigation. We show that pose-graph SLAM is a generalized framework that can be applied to many diverse underwater navigation problems in marine robotics. We highlight three specific examples as applied in the areas of autonomous ship hull inspection and multi-vehicle cooperative navigation.

Bibtex entry

@INBOOK { schaves-2017a,
    AUTHOR = { Stephen M. Chaves and Enric Galceran and Paul Ozog and Jeffrey M. Walls and Ryan M. Eustice },
    EDITOR = { Thor I. Fossen and Kristin Y. Pettersen and Henk Nijmejier },
    TITLE = { Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles },
    CHAPTER = { Pose-graph SLAM for underwater navigation },
    PUBLISHER = { Springer },
    YEAR = { 2017 },
    ADDRESS = { Alesund, Norway },
    NUMBER = { 474 },
    PAGES = { 143--160 },
    SERIES = { Lecture Notes in Control and Information Sciences },
}