HippoCampus: A micro underwater vehicle for swarm applications

Hackbarth, Axel; Kreuzer, Edwin; Solowjow, Eugen

doi:10.1109/iros.2015.7353680

Cited by 39 publications

(15 citation statements)

References 9 publications

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“…Future studies will focus on implementing the system on a micro underwater vehicle [1]. The EKF will be extended to fuse other sensor readings (e. g. an IMU) in order to derive a more accurate position estimate.…”

Section: Discussionmentioning

confidence: 99%

“…We use the recorded acoustic sequences to estimate TDOAs directly via cross-correlation. The TDOAs are then fed to an Extended Kalman Filter (EKF) to derive the receiver's position from (1).…”

Section: System Setup and Methodologymentioning

confidence: 99%

“…Micro underwater vehicles have been an active research area in the recent years [1]- [3]. However, current localization approaches for experimental test tanks often do not provide satisfactory performance, particularly not for swarms.…”

Section: Introductionmentioning

confidence: 99%

“…1 Authors are with the Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany. 2 Author is with the Department of Mechanical Engineering, University of California, Berkeley, USA.…”

Section: Introductionmentioning

confidence: 99%

“…The development of the presented acoustic self-localization system is driven by the goal of applying a group of autonomous underwater vehicles (AUVs) to analyze flow fields [1]. To the authors' best knowledge, no passive acoustic localization system for swarm robotics research in experimental test tanks exists.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Towards a hyperbolic acoustic one-way localization system for underwater swarm robotics

Geist

Hackbarth

Kreuzer

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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A hyperbolic acoustic system for underwater robot self-localization is presented. Anchored transducers send acoustic signals which are observed by a receiver. The system is passive with one-way signal transmission. Time differences of arrival (TDOAs) between the emitted signals are estimated by the receiver via cross-correlation. These TDOAs are fed to an Extended Kalman Filter to estimate the global position of the receiver. We describe the complete signal processing chain as well as challenges in hardware and software design. Experimental results in air and water show the feasibility of the system. This paper demonstrates that acoustic oneway localization is possible with off-the-shelf hardware in experimental test tanks.

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Section: Discussionmentioning

confidence: 99%

Section: System Setup and Methodologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Towards a hyperbolic acoustic one-way localization system for underwater swarm robotics

Geist

Hackbarth

Kreuzer

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Parent–child‐based navigation method of multiple autonomous underwater vehicles for an underwater self‐completed survey

Matsuda

Fujita

Hamamatsu

et al. 2021

Journal of Field Robotics

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This study proposes a navigation method of multiple autonomous underwater vehicles (AUVs) where low-cost AUVs (child AUVs) estimate their self-states including their position, yaw angle, and horizontal moving velocity accurately thanks to a single high-performance AUV (parent AUV) without any external support. Since the child AUVs have only simple navigational sensors, positioning performance is not enough. The parent AUV, on the other hand, can conduct accurate self-state estimation using high-grade navigational sensors without any external support. The parent AUV supports the child AUVs through all processes of deployment, surveying, recovery, and surfacing. This study focuses on the accurate positioning method for the phase of the surveying. The child AUVs have acoustic devices for positioning and communication or cameras; hence, they build a parent-centered wireless positioning and communication network and can also estimate their self-states as accurately as the parent AUV, thanks to the positioning relative to the parent AUV.Field experiments with AUVs were conducted in a deep sea (hydrothermal vent field) and a shallow area. We confirmed that long-range navigation could be achieved while keeping an accuracy that is 5-10 times greater than that achieved by the child AUV alone based on state estimation using sensor data from the experiments in postprocessing. The performance of the proposed system does not depend on the child AUV's performance. We also verified that the proposed method has a certain scalability and a high-level performance in terms of accuracy, efficiency, and cost by a comparison with other existing navigation methods.

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Learning environmental fields with micro underwater vehicles: a path integral—Gaussian Markov random field approach

Kreuzer

Solowjow

2017

Auton Robot

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HippoCampus: A micro underwater vehicle for swarm applications

Cited by 39 publications

References 9 publications

Towards a hyperbolic acoustic one-way localization system for underwater swarm robotics

Towards a hyperbolic acoustic one-way localization system for underwater swarm robotics

Parent–child‐based navigation method of multiple autonomous underwater vehicles for an underwater self‐completed survey

Learning environmental fields with micro underwater vehicles: a path integral—Gaussian Markov random field approach

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