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Author: Alexander Bahr Publisher: ISBN: Category : Remote submersibles Languages : en Pages : 140
Book Description
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.
Author: Alexander Bahr Publisher: ISBN: Category : Remote submersibles Languages : en Pages : 140
Book Description
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.
Author: Publisher: ISBN: Category : Languages : en Pages :
Book Description
Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2009.
Author: Zhuoyuan Song Publisher: ISBN: Category : Languages : en Pages : 86
Book Description
Unavailability of GPS (global positioning system) for underwater navigation has created significant challenges for operation and localization of autonomous underwater vehicles (AUVs). This is more pronounced in dynamic ocean flows where significant background flows exist. In this thesis, a collaborative underwater localization hierarchy is introduced to improve the cooperative performance of a small AUV swarm by utilizing vehicles with bounded localization error as moving references in the presence of dominating background flows. Initially represented in probability theory, the problem is then decomposed into a cooperative localization problem and a dynamic simultaneous localization and mapping problem with moving features. To address the incomplete covariance updating issue, which arises when directly applying the extended Kalman filter in fully distributed systems, the modified extended Kalman filter (MEKF) is proposed and a MEKF based algorithm is discussed in detail. A particle filter based algorithm is implemented for comparative purposes due to its advantages in modeling multimodal non-Gaussian distributions. However, it is shown that the particle filter requires greater computational effort than the MEKF when the number of vehicles is small. Both proposed algorithms are verified in three-dimensional background flow simulations. The divergent behavior of localization error, which appears when using solely cooperative localization, is avoided through the implementation of either the MEKF algorithm or the particle algorithm. Significant decreases in localization error are subsequently observed.
Author: Chao Gao Publisher: CRC Press ISBN: 0429016670 Category : Technology & Engineering Languages : en Pages : 731
Book Description
This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Author: Chao Gao Publisher: CRC Press ISBN: 0429016689 Category : Technology & Engineering Languages : en Pages : 636
Book Description
This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Author: Georgios Papadopoulos Publisher: ISBN: Category : Languages : en Pages : 83
Book Description
This thesis investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor measurements to compute its trajectory. We present an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. We analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We investigate the convergence of NLS applied to the cooperative ASV/AUV localization problem. Though we show that the localization problem is non-convex, we propose an algorithm that under certain assumptions (the accumulative dead reckoning variance is much bigger than the variance of the range measurements, and that range measurement errors are bounded) achieves convergence by choosing initial conditions that lie in convex areas. We present experimental results for this approach and compare it to alternative state estimators, demonstrating superior performance.
Author: Assia Belbachir Publisher: LAP Lambert Academic Publishing ISBN: 9783659131899 Category : Languages : en Pages : 136
Book Description
Underwater target localization using several autonomous underwater vehicles(AUVs) is a challenging issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions. Communication points are required to make underwater vehicles exchange information: for that purpose the system involves one autonomous surface vehicle (ASV), which helps the AUVs to re-localize and to exchange data, and two AUVs that adapt their strategy according to gathered information, while satisfying the associated communication constraints. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperates with others to explore an area with the help of an ASV. To provide the required autonomy for these vehicles, we built upon an existing system with additional components, which provides an embedded planning and execution control framework. Simulation results are carried out to evaluate the proposed architecture and adaptive exploration strategy.
Author: Jing Yan Publisher: Springer Nature ISBN: 9811660964 Category : Technology & Engineering Languages : en Pages : 222
Book Description
Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Author: Francesco Fanelli Publisher: Springer ISBN: 303015596X Category : Technology & Engineering Languages : en Pages : 97
Book Description
This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Author: Luigi Piroddi Publisher: Springer Nature ISBN: 3030859185 Category : Technology & Engineering Languages : en Pages : 151
Book Description
This open access book presents thirteen outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Control, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the thirteen best theses defended in 2020-21 and selected for the IT PhD Award. Each of the authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists.
Author: Alexander Bahr
Author: Alexander Bahr
Author: 
Author: Zhuoyuan Song
Author: Chao Gao
Author: Chao Gao
Author: Georgios Papadopoulos
Author: Assia Belbachir
Author: Jing Yan
Author: Francesco Fanelli
Author: Luigi Piroddi