Andrew Ian Comport

T-CoLoc: Leveraging Tethers for Reliable Co-Localization within an Underwater ROV Chain

Underwater Remotely Operated Vehicles (ROVs) exchange data with a control station via a communication cable. One or more intermediate robots can be placed along this tether to manage its shape and minimize the mechanical effects on the ROV. This work deals with the localization of a pair of underwat…