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Using Augmented State Kalman filter to localize multi autonomous underwater vehicles

Abstract

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.

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This work was sponsored by Conselho Nacional de Pesquisa (CNPq)

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( https://creativecommons.org/licenses/by/2.0 ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Botelho, S., Neves, R., Taddei, L. et al. Using Augmented State Kalman filter to localize multi autonomous underwater vehicles. J Braz Comp Soc 13, 61–70 (2007). https://doi.org/10.1007/BF03192410

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  • DOI: https://doi.org/10.1007/BF03192410

Keywords

  • Multi-Robots
  • Autonomous Underwater Vehicles
  • Mosaics
  • Robotic Localization