Download or read book A Cooperative Architecture to Localize Targets for Underwater Vehicles written by Assia Belbachir and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater target localization using several autonomous underwater vehicles(AUVs) is a challenging issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions. Communication points are required to make underwater vehicles exchange information: for that purpose the system involves one autonomous surface vehicle (ASV), which helps the AUVs to re-localize and to exchange data, and two AUVs that adapt their strategy according to gathered information, while satisfying the associated communication constraints. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperates with others to explore an area with the help of an ASV. To provide the required autonomy for these vehicles, we built upon an existing system with additional components, which provides an embedded planning and execution control framework. Simulation results are carried out to evaluate the proposed architecture and adaptive exploration strategy.
Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.
Download or read book Cooperative Localization for Autonomous Underwater Vehicles written by Alexander Bahr and published by . This book was released on 2009 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.
Download or read book Cooperative Localization for Autonomous Underwater Vehicles written by and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2009.
Download or read book Localization in Underwater Sensor Networks written by Jing Yan and published by Springer Nature. This book was released on 2021-10-27 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ocean covers 70.8% of the Earth’s surface, and it plays an important role in supporting all life on Earth. Nonetheless, more than 80% of the ocean’s volume remains unmapped, unobserved and unexplored. In this regard, Underwater Sensor Networks (USNs), which offer ubiquitous computation, efficient communication and reliable control, are emerging as a promising solution to understand and explore the ocean. In order to support the application of USNs, accurate position information from sensor nodes is required to correctly analyze and interpret the data sampled. However, the openness and weak communication characteristics of USNs make underwater localization much more challenging in comparison to terrestrial sensor networks. In this book, we focus on the localization problem in USNs, taking into account the unique characteristics of the underwater environment. This problem is of considerable importance, since fundamental guidance on the design and analysis of USN localization is very limited at present. To this end, we first introduce the network architecture of USNs and briefly review previous approaches to the localization of USNs. Then, the asynchronous clock, node mobility, stratification effect, privacy preserving and attack detection are considered respectively and corresponding localization schemes are developed. Lastly, the book’s rich implications provide guidance on the design of future USN localization schemes. The results in this book reveal from a system perspective that underwater localization accuracy is closely related to the communication protocol and optimization estimator. Researchers, scientists and engineers in the field of USNs can benefit greatly from this book, which provides a wealth of information, useful methods and practical algorithms to help understand and explore the ocean.
Download or read book Dynamics of Information Systems written by Michael Hirsch and published by Springer Science & Business Media. This book was released on 2010-04-11 with total page 378 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Dynamics of Information Systems" presents state-of-the-art research explaining the importance of information in the evolution of a distributed or networked system. This book presents techniques for measuring the value or significance of information within the context of a system. Each chapter reveals a unique topic or perspective from experts in this exciting area of research. This volume is intended for graduate students and researchers interested in the most recent developments in information theory and dynamical systems, as well as scientists in other fields interested in the application of these principles to their own area of study.
Download or read book Cooperative Localization for Autonomous Underwater Vehicles in Strong Ocean Currents written by Zhuoyuan Song and published by . This book was released on 2014 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unavailability of GPS (global positioning system) for underwater navigation has created significant challenges for operation and localization of autonomous underwater vehicles (AUVs). This is more pronounced in dynamic ocean flows where significant background flows exist. In this thesis, a collaborative underwater localization hierarchy is introduced to improve the cooperative performance of a small AUV swarm by utilizing vehicles with bounded localization error as moving references in the presence of dominating background flows. Initially represented in probability theory, the problem is then decomposed into a cooperative localization problem and a dynamic simultaneous localization and mapping problem with moving features. To address the incomplete covariance updating issue, which arises when directly applying the extended Kalman filter in fully distributed systems, the modified extended Kalman filter (MEKF) is proposed and a MEKF based algorithm is discussed in detail. A particle filter based algorithm is implemented for comparative purposes due to its advantages in modeling multimodal non-Gaussian distributions. However, it is shown that the particle filter requires greater computational effort than the MEKF when the number of vehicles is small. Both proposed algorithms are verified in three-dimensional background flow simulations. The divergent behavior of localization error, which appears when using solely cooperative localization, is avoided through the implementation of either the MEKF algorithm or the particle algorithm. Significant decreases in localization error are subsequently observed.
Download or read book Intelligent Systems 2014 written by D. Filev and published by Springer. This book was released on 2014-09-20 with total page 893 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two volume set of books constitutes the proceedings of the 2014 7th IEEE International Conference Intelligent Systems (IS), or IEEE IS’2014 for short, held on September 24‐26, 2014 in Warsaw, Poland. Moreover, it contains some selected papers from the collocated IWIFSGN'2014-Thirteenth International Workshop on Intuitionistic Fuzzy Sets and Generalized Nets.The conference was organized by the Systems Research Institute, Polish Academy of Sciences, Department IV of Engineering Sciences, Polish Academy of Sciences, and Industrial Institute of Automation and Measurements - PIAP.The papers included in the two proceedings volumes have been subject to a thorough review process by three highly qualified peer reviewers.Comments and suggestions from them have considerable helped improve the quality of the papers but also the division of the volumes into parts, and assignment of the papers to the best suited parts.
Download or read book Underwater Vehicles written by Alexander Inzartsev and published by BoD – Books on Demand. This book was released on 2009-01-01 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Download or read book Underwater Multi vehicle Co operative Target tracking written by Mei Yi Cheung (Ph. D.) and published by . This book was released on 2019 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: The marine domain is fundamentally challenging for collaborative, multi-robot sensing and tracking operations. Accurate mapping and modeling of an underwater environment is both time consuming and difficult, especially when robots have limited access to a high-quality localization solution such as GPS. Communications over distances greater than one hundred meters necessitates the use of acoustics (acomms), which introduces networking challenges such as limited throughput and bandwidth. Successful execution of a highly dynamic and co-operative task such as target-tracking requires optimization of the information-gathering process, probabilistic inference over disparate, noisy sensor data, and exchange of local information over a costly communication link. This thesis presents two formulations of the co-operative underwater target-tracking task: a dynamic nonlinear sigma-point joint estimator and a non-Gaussian, non-parametric, multi-modal factor graph formulation of SLAM. Within the field of SLAM simultaneous estimation of a robot's state (localization) and modeling of its environment (mapping), there is a wealth of research into approaches using point estimate representations and Gaussian sensor noise. The marine domain presents two challenges not well addressed by the usual formulation: (1) measurements obtained from diverse sensors often require extensive filtering and parametrization to fuse in a Gaussian syntax and (2) acomms between multiple robots significantly limits the amount of local information that can be shared over the network. The non-Gaussian approach presented here utilizes the technique of synthetic aperture sonar (SAS) to relate disparate acoustic measurements in a consistent probabilistic framework. Experimental results under real-world acoustic conditions are gathered onboard our custom-built lightweight and low-cost ASVs in the Charles River, and detailed design specifications are presented for our testbed robots.
Download or read book Navigation and Target Localization Performance of the AUV Remote Environmental Measuring UnitS written by Christopher John Cassidy and published by . This book was released on 2000 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Special Topics in Information Technology written by Luigi Piroddi and published by Springer Nature. This book was released on 2022-01-01 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book presents thirteen outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Control, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the thirteen best theses defended in 2020-21 and selected for the IT PhD Award. Each of the authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists.
Download or read book Advances in Multi Sensor Information Fusion Theory and Applications 2017 written by Xue-Bo Jin and published by MDPI. This book was released on 2018-06-26 with total page 569 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "Advances in Multi-Sensor Information Fusion: Theory and Applications 2017" that was published in Sensors
Download or read book Springer Handbook of Ocean Engineering written by Manhar R. Dhanak and published by Springer. This book was released on 2016-07-23 with total page 1344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook is the definitive reference for the interdisciplinary field that is ocean engineering. It integrates the coverage of fundamental and applied material and encompasses a diverse spectrum of systems, concepts and operations in the maritime environment, as well as providing a comprehensive update on contemporary, leading-edge ocean technologies. Coverage includes an overview on the fundamentals of ocean science, ocean signals and instrumentation, coastal structures, developments in ocean energy technologies and ocean vehicles and automation. It aims at practitioners in a range of offshore industries and naval establishments as well as academic researchers and graduate students in ocean, coastal, offshore and marine engineering and naval architecture. The Springer Handbook of Ocean Engineering is organized in five parts: Part A: Fundamentals, Part B: Autonomous Ocean Vehicles, Subsystems and Control, Part C: Coastal Design, Part D: Offshore Technologies, Part E: Energy Conversion
Download or read book A Remote Integrated Testbed for Cooperating Objects written by Jose Ramiro Martinez-de Dios and published by Springer Science & Business Media. This book was released on 2013-09-30 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: Testbeds are gaining increasing relevance in research domains and also in industrial applications. However, very few books devoted to testbeds have been published. To the best of my knowledge no book on this topic has been published. This book is particularly interesting for the growing community of testbed developers. I believe the book is also very interesting for researchers in robot-WSN cooperation. This book provides detailed description of a system that can be considered the first testbed that allows full peer-to-peer interoperability between heterogeneous robots and ubiquitous systems such as Wireless Sensor Networks, camera networks and pervasive computing systems. The system architecture includes modules that allows full bidirectional communication between robots and WSN. One robot can The book describes the current state of the art in development of testbeds integrating Cooperating Object technologies. It describes in detail the testbed specification and design using requirements extracted from surveys among experts in robotics and ubiquitous systems in academia and industry. The book also describes the testbed novel architecture and its hardware and software components. Moreover, it includes details on user support tools to facilitate its use such as remote use using a virtual private network and sets of functionalities of interest for members from the robotics, WSN and robot-WSN communities. Finally, the book illustrates its capabilities and potentialities describing the implementation of some of the experiments that have been performed. Examples from the robotics, WSN and robot-WSN communities are described.
Download or read book Cooperative Autonomous Tracking and Prosecution of Targets Using Range only Sensors written by Arthur Douglas Anderson (III) and published by . This book was released on 2013 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous platforms and systems are becoming ever more prevalent. They have become smaller, cheaper, have longer duration times, and now more than ever, more capable of processing large amounts of information. Despite these significant technological advances, there is still a level of distrust for the public autonomous systems. In marine and underwater vehicles, autonomy is particularly important being that communications to and from those vehicles are limited, either due to the length of the mission, the distance from their human operators, the sheer number of vehicles being used, or the data transfer rate available from a remote operator to an underwater vehicle through acoustics. The premise for this research is to use the MOOS-IvP code architecture, developed at MIT, to promote and advance marine vehicle autonomy collective knowledge through a project called Hunter-Prey. In this scenario, two or more surface vehicles attempt to cooperatively track an evading underwater target using range-only sensors, and ultimately maneuver into position for a "kill" using a simulated depth charge. This scenario will be distributed to the public through academic institutions and interested parties, who will submit code for the vehicles to compete against one another. The goal for this project is to create and foster an open-source environment where parties can compete and cooperate toward a common goal, the advancement of marine vehicle autonomy. In this paper, the Hunter-Prey scenario is developed, a nominal solution is created, and the parameters for the scenario are analyzed using regression testing through simulation and statistical analysis.
