Output details
11 - Computer Science and Informatics
University of Edinburgh
Efficient AUV navigation fusing acoustic ranging and side-scan sonar
<02> Originality: Presents a novel approach for the fusion of multi sensor data for the navigation of autonomous robotic vehicles (AUV). Enables integration of navigation information from proprioceptive and ad-hoc sources of convenience (inertial navigation, acoustic ranging, GPS and sonar) while retaining consistency.
Significance: This work was the first demonstration of smoothing-based navigation in a marine environment. Was nominated (20 of 2004 submissions) for an ICRA 2011 best automation paper - the largest robotics conference.
Rigour: Demonstrated in a large scale marine robotics field experiment involving several contributing organisations (MIT, NAVSEA Panama City, ONR).