LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING

Zhongliang Hu, Eemeli Aro, Tapani Stipa, Mika Vainio, Aarne Halme

Abstract

In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemented in the floats for underwater localization, based on an Extended Kalman Filter. Extensive real scenario simulation test results are presented.

References

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Paper Citation


in Harvard Style

Hu Z., Aro E., Stipa T., Vainio M. and Halme A. (2010). LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 232-239. DOI: 10.5220/0002945502320239


in Bibtex Style

@conference{icinco10,
author={Zhongliang Hu and Eemeli Aro and Tapani Stipa and Mika Vainio and Aarne Halme},
title={LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={232-239},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002945502320239},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING
SN - 978-989-8425-01-0
AU - Hu Z.
AU - Aro E.
AU - Stipa T.
AU - Vainio M.
AU - Halme A.
PY - 2010
SP - 232
EP - 239
DO - 10.5220/0002945502320239