Multi-vehicle relative localization based on single range measurements

Palma, Daniela De; Indiveri, Giovanni; Parlangeli, Gianfranco

doi:10.1016/j.ifacol.2015.06.457

Cited by 12 publications

(10 citation statements)

References 22 publications

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“…Finally, within the MARIS project, theoretical studies on interaction control [48], multi-vehicle localization [49], communications [50], dual arm UVMS [51] (https://youtu.be/wBiOCVoRM9g) and cooperative underwater manipulation systems [52], [53] (https://youtu.be/9WRRUotcjmM) have been performed, and represent the next step that has to be demonstrated in field trials.…”

Section: Discussionmentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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Autonomous Underwater Vehicles are frequently used for survey missions and monitoring tasks, however manipulation and intervention tasks are still largely performed with a human in the loop.Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous Underwater Vehicle Manipulator Systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project's final experimental results on floating underwater intervention.Index Terms underwater vehicle manipulator system; underwater gripper; underwater vision; floating underwater control; task priority control; underwater intervention.

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Section: Discussionmentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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“…At last, notice that the described approach can be extended to the case of multi-vehicle navigation: in particular, relative localization can be achieved when a vehicle has access to the range from another one and they share knowledge of their inputs. Preliminary results relative to this problem have been addressed for different first order kinematics models in [8] [9] and [13].…”

Section: Discussionmentioning

confidence: 99%

“…This localization problem, commonly known in the literature as single beacon localization or range-only localization, has received increasing attention in the last years [1], [2], [3], [4], [5], [6]. Similar approaches can be considered in the case of multi-vehicle localization where opportunistic range measurements arising from time of flight data associated to acoustic communications devices may be available and can be used for relative localization [7], [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Observability analysis for single range localization

Arrichiello

Palma

Indiveri

et al. 2015

OCEANS 2015 - Genova

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This paper presents an observability analysis for the single range localization problem of a second order kinematics model of an Autonomous Underwater Vehicle (AUV) possibly subject to a constant current. In particular, the AUV is modeled as a double integrator having as input the acceleration in an inertial reference frame and as output its distance to a stationary beacon. Since the range is a non linear function of the position, the single range observability problem is inherently nonlinear. Thus, to eventually design an observer, we assess observability conditions addressing two complementary issues: local weak observability of the nonlinear system and global observability referring to a linear time varying representation of the system derived through a 'state augmentation' method. The proposed methods for observability analysis is discussed in different case studies (e.g. 2D/3D, absence/presence of current) and the performances of the related state observers are illustrated throughout numerical simulations.

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“…As for relative AUVs navigation, relative range information can be embedded in the navigation system of each individual vehicle in the form of a geometric constraint depending on the range measurements and on the communication topology. Preliminary promising results exploiting this approach have been reported in/by (De Palma, Indiveri & Parlangeli, 2015).…”

Section: Single Range Navigation and Guidancementioning

confidence: 99%

Widely Scalable Mobile Underwater Sonar Technology: An Overview of the H2020 WiMUST Project

Abreu¹,

Antonelli²,

Arrichiello³

et al. 2016

mar technol soc j

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The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative autonomous underwater vehicles (AUVs) for geotechnical surveying and geophysical exploration. The paper describes the main objectives of the project, gives an overview of the methodologies adopted to achieve them, and summarizes the work done in the first year of R&D work.

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Multi-vehicle relative localization based on single range measurements

Cited by 12 publications

References 22 publications

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Observability analysis for single range localization

Widely Scalable Mobile Underwater Sonar Technology: An Overview of the H2020 WiMUST Project

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