Open Access

Using Augmented State Kalman filter to localize multi autonomous underwater vehicles

  • Silvia Botelho1,
  • Renato Neves2,
  • Lorenzo Taddei3 and
  • Vinícius Oliveira1
Journal of the Brazilian Computer Society13:BF03192410


The present paper describes a system for the construction of visual maps (“mosaics”) and motion estimation for a set of AUVs (Autonomous Underwater Vehicles). Robots are equipped with down-looking camera which is used to estimate their motion with respect to the seafloor and built an online mosaic. As the mosaic increases in size, a systematic bias is introduced in its alignment, resulting in an erroneous output. The theoretical concepts associated with the use of an Augmented State Kalman Filter (ASKF) were applied to optimally estimate both visual map and the fleet position.


Multi-RobotsAutonomous Underwater VehiclesMosaicsRobotic Localization