| dc.creator |
Papalia, Alan |
|
| dc.creator |
Leonard, John |
|
| dc.date |
2022-01-07T19:51:19Z |
|
| dc.date |
2022-01-07T19:51:19Z |
|
| dc.date |
2020 |
|
| dc.date |
2022-01-07T19:45:55Z |
|
| dc.date.accessioned |
2023-03-01T18:09:18Z |
|
| dc.date.available |
2023-03-01T18:09:18Z |
|
| dc.identifier |
https://hdl.handle.net/1721.1/138847 |
|
| dc.identifier |
Papalia, Alan and Leonard, John. 2020. "Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging." 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020. |
|
| dc.identifier.uri |
http://localhost:8080/xmlui/handle/CUHPOERS/278956 |
|
| dc.description |
© 2020 IEEE. Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality depends on network topology, with degenerate topologies, referred to as low-rigidity configurations, leading to ambiguous or highly uncertain localization results. This paper presents tools for rigidity-based analysis, planning, and control of a multi-AUV network which account for sensor noise and limited sensing range. We evaluate our long-term planning framework in several two-dimensional simulated environments and show we are able to generate paths in feasible time and guarantee a minimum network rigidity over the full course of the paths. |
|
| dc.format |
application/pdf |
|
| dc.language |
en |
|
| dc.publisher |
IEEE |
|
| dc.relation |
10.1109/AUV50043.2020.9267910 |
|
| dc.relation |
2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020 |
|
| dc.rights |
Creative Commons Attribution-Noncommercial-Share Alike |
|
| dc.rights |
http://creativecommons.org/licenses/by-nc-sa/4.0/ |
|
| dc.source |
arXiv |
|
| dc.title |
Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging |
|
| dc.type |
Article |
|
| dc.type |
http://purl.org/eprint/type/ConferencePaper |
|