Motion tomography: Mapping flow fields using autonomous underwater vehicles

Navigating Autonomous Underwater Vehicles

Autonomous Underwater Vehicles (AUVs) are powerful tools for exploring, investigating and managing our ocean resources. As the capabilities of these platforms continue to expand and they continue to mature as operational assets, navigation remains a fundamental technological component. This chapter presents a road map for the vehicle designer to aid in integrating the latest navigation methods ...

Autonomous Underwater Vehicles

Navigation is one of the most critical factors in determining the operational suitability of any unmanned vehicle for its designated environment. In fully autonomous vehicles, due to the lack of a human operator to perform the navigation task, there is a fundamental requirement to incorporate estimation techniques that can provide the desired information necessary for navigation. Such informati...

Conditional Random Fields for Behavior Recognition of Autonomous Underwater Vehicles

This paper focuses on multi-robot teams working cooperatively in an underwater application. Multi-robot teams working cooperatively to perform multiple tasks simultaneously have the potential to be more robust to failure and efficient when compared to single robot solutions. One key to more effective interaction is the ability to identify the behavior of other agents. However, the underwater en...

Autonomous underwater vehicles: Hybrid control of mission and motion

Concurrent Mapping and Localization for Multiple Autonomous Underwater Vehicles

This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research in development of concurrent mapping and localization (CML) techniques for a single vehicle. In this pape...