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Authors: Fabio Fratichini 1 ; Stefano Chiesa 2 and Sergio Taraglio 2

Affiliations: 1 ENEA and University of Roma Tre, Italy ; 2 ENEA, Italy

ISBN: 978-989-8565-71-6

Keyword(s): Distributed Control Systems, Mobile Robots and Intelligent Autonomous Systems, Space and Underwater Robots, Sensor Fusion.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Space and Underwater Robotics

Abstract: A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel’s speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.

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Paper citation in several formats:
Fratichini, F.; Chiesa, S. and Taraglio, S. (2013). Three Dimensional Localisation in Underwater Swarms through a Kalman Approach.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 215-221. DOI: 10.5220/0004457502150221

@conference{icinco13,
author={Fabio Fratichini. and Stefano Chiesa. and Sergio Taraglio.},
title={Three Dimensional Localisation in Underwater Swarms through a Kalman Approach},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={215-221},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457502150221},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Three Dimensional Localisation in Underwater Swarms through a Kalman Approach
SN - 978-989-8565-71-6
AU - Fratichini, F.
AU - Chiesa, S.
AU - Taraglio, S.
PY - 2013
SP - 215
EP - 221
DO - 10.5220/0004457502150221

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