Lachlan Toohey — accepted AI-conference papers

2019

Sampling-Based Path Planning for Cooperative Autonomous Maritime Vehicles to Reduce Uncertainty in Range-Only Localization

Jonatan Scharff Willners, Lachlan Toohey, Yvan R. Petillot

RA-L 2019

The following letter presents an adaptive path planning algorithm for cooperative localization in the maritime environment. It considers the scenario where an Autonomous Surface Vehicle (ASV) acts as a Communication and Navigation Aid (CNA) to support Autonomous Underwater Vehicles (AUVs) with range

Cited by 30 Source ↗Scholar ↗

2018

Bounding Drift in Cooperative Localisation Through the Sharing of Local Loop Closures

Lachlan Toohey, Oscar Pizarro, Stefan B. Williams

ICRA 2018poster

Handling loop closures and intervehicle observations in cooperative robotic scenarios remains a challenging problem due to data consistency, bandwidth limitations and increased computation requirements. This paper develops a general cooperative localisation and single vehicle Visual SLAM framework t…

Cited by 2 Source ↗Scholar ↗