TY - GEN
T1 - MLS based distributed, bearing, range and posture estimation for schools of submersibles
AU - Kottege, Navinda
AU - Zimmer, Uwe R.
PY - 2008
Y1 - 2008
N2 - Continuous relative localization among all local members of a school of submarines is an essential pre-condition for distributed motion control. Exploiting the short-range, underwater electromagnetic as well as the acoustical channel, the proposed approach delivers sufficient bearing, range and posture estimations based on local sensing in small, autonomous submersibles with limited energy capacities and computational resources. This research is part of the Serafina project at the Australian National University, aiming for large schools of autonomous underwater vehicles. Results of a number of physical experiments are presented which tests for precision, sensing range, interference robustness, and motion sensitivity.
AB - Continuous relative localization among all local members of a school of submarines is an essential pre-condition for distributed motion control. Exploiting the short-range, underwater electromagnetic as well as the acoustical channel, the proposed approach delivers sufficient bearing, range and posture estimations based on local sensing in small, autonomous submersibles with limited energy capacities and computational resources. This research is part of the Serafina project at the Australian National University, aiming for large schools of autonomous underwater vehicles. Results of a number of physical experiments are presented which tests for precision, sensing range, interference robustness, and motion sensitivity.
UR - http://www.scopus.com/inward/record.url?scp=38949121630&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-77457-0_35
DO - 10.1007/978-3-540-77457-0_35
M3 - Conference contribution
SN - 9783540774563
T3 - Springer Tracts in Advanced Robotics
SP - 377
EP - 385
BT - Experimental Robotics
A2 - Khatib, Oussama
A2 - Kumar, Vijay
A2 - Rus, Daniela
ER -