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Authors: Zhongliang Hu 1 ; Eemeli Aro 2 ; Tapani Stipa 3 ; Mika Vainio 2 and Aarne Halme 2

Affiliations: 1 Finnish Center of Excellence in Generic Intelligent Machines Research, Finland ; 2 Aalto University School of Science and Technology, Finland ; 3 Finnish Meteorological Institute, Finland

ISBN: 978-989-8425-01-0

Keyword(s): Multi-robotic system, Autonomous underwater localization, Underwater acoustic communication, Coastal area monitoring.

Related Ontology Subjects/Areas/Topics: Environmental Monitoring and Control ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Network Robotics ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Space and Underwater Robotics

Abstract: In this paper we present an multi-robotic system for underwater exploration, specifically for coastal seas. The novelty of this system is its enhanced performance in underwater localization using underwater acoustic ranging and data transfer between the floats. This process is not dependent on any fixed infrastructure, which is usually a requirement for such missions. An algorithm is implemented in the floats for underwater localization, based on an Extended Kalman Filter. Extensive real scenario simulation test results are presented.

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Paper citation in several formats:
Hu Z.; Aro E.; Stipa T.; Vainio M.; Halme A. and (2010). LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 232-239. DOI: 10.5220/0002945502320239

@conference{icinco10,
author={Zhongliang Hu and Eemeli Aro and Tapani Stipa and Mika Vainio and Aarne Halme},
title={LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={232-239},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002945502320239},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LOCALIZATION IN AN AUTONOMOUS UNDERWATER MULTI-ROBOT SYSTEM DESIGNED FOR COASTAL AREA MONITORING
SN - 978-989-8425-01-0
AU - Hu, Z.
AU - Aro, E.
AU - Stipa, T.
AU - Vainio, M.
AU - Halme, A.
PY - 2010
SP - 232
EP - 239
DO - 10.5220/0002945502320239

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