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

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Decentralized navigation for multiple underwater vehicles using acoustic communication

Summary


Sarah E. Webster, Louis L. Whitcomb and Ryan M. Eustice, Decentralized navigation for multiple underwater vehicles using acoustic communication. In The Fifth ACM International Workshop on UnderWater Networks (WUWNet), Woods Hole, MA, USA, September 2010. (Abstract).

Abstract

This poster reports the theory and current implementation of a decentralized navigation system that enables simultaneous single-beacon navigation of multiple underwater vehicles.We summarize the architecture and design of the acoustic communications (Acomms) system consisting of an underwater acoustic modem, synchronous clock, and the software necessary to run them; the salient results from the validation of the decentralized information filter using a simulated data set; and on-going research to incorporate inter-vehicle range measurements in the decentralized solution without creating overconfident navigation solutions.

Bibtex entry

@CONFERENCE { swebster-2010c,
    AUTHOR = { Sarah E. Webster and Louis L. Whitcomb and Ryan M. Eustice },
    TITLE = { Decentralized navigation for multiple underwater vehicles using acoustic communication },
    BOOKTITLE = { The Fifth ACM International Workshop on UnderWater Networks (WUWNet) },
    YEAR = { 2010 },
    MONTH = { September },
    ADDRESS = { Woods Hole, MA, USA },
    NOTE = { Abstract },
}