5 accepted papers
Synthetic Aperture Sonar (SAS) is a technique to improve the spatial resolution from a moving set of receivers by extending the array in time, increasing the effective array length and aperture. This technique is limited by the accuracy of the receiver position estimates, necessitating highly accura…
The underwater environment poses significant challenges for accurate autonomous underwater vehicle (AUV) navigation. Electromagnetic (EM) waves rapidly attenuate due to absorption by water, thereby preventing the use of traditional EM -based positioning methods such as Global Positioning System (GPS…
Accurate localization is critical for a robotic vehicle to navigate autonomously. Conventional autonomous underwater vehicles (AUV s) typically rely on an inertial navigation system (INS) aided by a Doppler velocity log (DVL) in order to reduce the rate of positional error growth of dead-reckoning t…
Autonomous underwater vehicles (AUVs) pose significant communication challenges: vehicles are submerged for periods of time in which speed-of-light communication is impossible. This is a particular problem on low-cost AUV platforms, on which acoustic modems are not available to get vehicle state or…
This paper presents an acoustic localization system for small and low-cost autonomous underwater vehicles (AUVs). Accurate and robust localization for low-cost AUVs would lower the barrier toward multi-AUV research in river and ocean environments. However, these AUVs introduce size, power, and cost…