A. Malori Oxford

Localization of an Unmanned Underwater Vehicle Using a Tethered Cooperative Surface Vehicle and Hybrid EKF/Grid-Based Method

This paper presents an approach for the localization of an Unmanned Underwater Vehicle (UUV) in a cooperative team with a tethered Unmanned Surface Vehicle (USV). For the localization, the UUV and the USV carry a camera and a sonar respectively to observe each other. The vehicle states are split bet