Concurrent Mapping and Localization for Autonomous Underwater Vehicles

Although traditional tracking and multitarget tracking have examined the problems of estimating multiple targets in an uncertain environment, the addition of navigational uncertainty results in additional complexities which are not addressed by these methodologies. Concurrent mapping and localization refers to the use of environmental cues to both build a map and reduce navigational uncertainty. This new technology promises to enhance greatly the performance of unmanned underwater vehicles (UUVs) navigating in unknown and unmapped environments. After examining background to this problem, we describe the process of concurrent mapping and localization. An implementation plan for realizing the capability of concurrent mapping and localization on a eld vehicle is presented. Key research issues are highlighted and progress in these areas is presented.