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Output details

11 - Computer Science and Informatics

University of Edinburgh

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Output title

Efficient AUV navigation fusing acoustic ranging and side-scan sonar

Type

E - Conference contribution

DOI

10.1109/ICRA.2011.5980302

Name of conference/published proceedings

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Volume number

Issue number

First page of article

2398

ISSN of proceedings

Year of publication

2011

URL

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5980302

Number of additional authors

Additional information

<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).

Interdisciplinary

Cross-referral requested

Research group

E - Institute of Perception, Action & Behaviour

Citation count

Proposed double-weighted

Double-weighted statement

Reserve for a double-weighted output

Non-English

English abstract