Low-cost AUV Swarm Localization Through Multimodal Underwater Acoustic Networks

Mason, Federico; Chiariotri, Federico; Campagnaro, Filippo; Zanella, Andréa; Zorzi, Michele

doi:10.1109/ieeeconf38699.2020.9389467

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…Since high-precision sensors are only equipped on the leader AUV (e.g. USBL [60]) and low-precision sensors are equipped on follower AUVs, the scheme is often used for reduced cost and communication needs. However, the drawbacks of such systems include failure of localization of whole swarm when the leader is lost and only the leader has the absolute position information of all AUVs, thus the self-localization of follower AUVs is not achieved.…”

Section: Low-cost Underwater Swarm Acoustic Localizationmentioning

confidence: 99%

“…It has been used in field experiments in harbor area [31], [68], where in [68] the authors show that a moving BlueROV2 is localized with positioning error below 75 cm in an operation range below 30 m using an EKF for the position estimation and RTK-GPS as reference. In an AUV swarm localization scenario with a leader-follower formation [60], the authors show that an acceptable accuracy can be achieved by using ahoi modems in a low-cost multimodal low frequency (LF) and high frequency (HF) acoustic network (MM). In the proposed MM network, a surface node and a leader AUV are equipped with LF acoustic modems and USBL capabilities, while four follower AUVs and the leader can communicate with HF ahoi modems.…”

Section: A Low-cost Acoustic Modemmentioning

confidence: 99%

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Low-Cost Underwater Swarm Acoustic Localization: A Review

Jiang,

Renner

2024

IEEE Access

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Underwater swarm robotics has gained prominence as an innovative paradigm for diverse applications, including environmental monitoring and marine exploration. This review paper presents a comprehensive review of low-cost underwater swarm acoustic localization systems, focusing on recent research findings validated through field experiments. To aid research on the concept of low-cost swarm acoustic localization, this article provides overview of cost-effective underwater swarm applications and the applicability assessment of traditional acoustic localization strategies, then presents several crucial components for building an acoustic ranging-based low-cost swarm localization system, including lowcost acoustic modems and low-cost swarm localization system with cooperative strategies. In summary, this review serves as a valuable resource for researchers and practitioners in underwater swarm robotics and acoustic localization, addressing challenges, strategies, and goals of low-cost swarm acoustic localization systems.

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Section: Low-cost Underwater Swarm Acoustic Localizationmentioning

confidence: 99%

Section: A Low-cost Acoustic Modemmentioning

confidence: 99%

Low-Cost Underwater Swarm Acoustic Localization: A Review

Jiang,

Renner

2024

IEEE Access

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Multiple Autonomous Surface Vehicles for Autonomous Cooperative Navigation Tasks in a Marine Environment: Development and Preliminary Field Tests

Park¹,

Kang²,

Lee³

et al. 2023

IEEE Access

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This paper presents the development and field testing of multiple autonomous surface vehicles (ASVs) for autonomous cooperative navigation tasks in marine environments. The developed ASVs were designed in a catamaran hull form, and various systems related to autonomous functionalities, including the electrical propulsion, wireless communication, and guidance, navigation, and control (GNC) systems, were integrated with the situational awareness sensor system. Because not all of the navigation and situational awareness sensor data can be shared owing to the large network load, the network communication and data protocol structure was designed to enhance the data management efficiency. Furthermore, for cooperative navigation between multiple ASVs, the network communication system was synchronously shared with motion information through a robot operating system (ROS) multi-master system. In particular, an autonomy framework with cooperative navigation and control was designed to enable autonomous cooperative maneuvering with multiple ASVs in a global navigation satellite system (GNSS)-denied environment. Furthermore, a cooperative navigation and control approach based on relative geometric information between vehicles was implemented in the framework, which incorporated the capabilities of following a predefined path and maintaining a specific formation based on the relative distance between ASVs. Moreover, to demonstrate the essential maneuvering and functional capabilities of the cooperative navigation and control approach of the developed ASVs, preliminary field tests were conducted in an inland water environment, and the test results are discussed in this paper.

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