5 papers · 1 filter
CONSORT: Uncertainty-Constrained Multi-Robot Planning for Cooperative Localization in GPS-Denied Environments
Tony Zhang, Ryan Bartholomew, Kalliyan Velasco +2
Centralized multi-agent path planning with cooperative localization in GPS-denied environments is generally computationally intractable when formulated in full belief space due to…
Beyond the Flat Seafloor: A Closed-Form Two-View Constraint to Aid Sidescan Sonar Reconstruction
Kalin Norman, Joshua G. Mangelson
Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few methods build upon or exploit the geometric projection model of the se…
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
Ben Washburn, Clayton Smith, Eli Gaskin +4
Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sens…
The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization
Derek R. Benham, Joshua G. Mangelson
Coastal environments contain rich, largely unexploited geometric structure capable of providing globally referenced localization cues. In this work, we present two complementary lo…
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
Derek R. Benham, Easton R. Potokar, Joshua G. Mangelson
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularl…