3 accepted papers
The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspection planners are fast. However, they often require huge memory. This is particularly true when the structure under inspect
This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing the Earth rotation for heading estimation with a tactical gra…
Survey class Autonomous Underwater Vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precise navigation near the seafloor. In cases where the distance to the seafloor is greater than the DVL bottom lock range, localizing between the surface where GPS is available and the seafloor pre…