Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization

Crasta, Naveena; Moreno-Salinas, David; Pascoal, António; Almansa, Joaquín Aranda

doi:10.1016/j.arcontrol.2018.10.004

Cited by 36 publications

(37 citation statements)

References 11 publications

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“…Usually, robots can be classified by the environment they are in and by the application field for which they are designed [114] (see Fig.6), so the following reviewed works use different types of robots. Important features of autonomous robotic systems are autonomy [115] and cooperative motion planning [116].…”

Section: Urban Planningmentioning

confidence: 99%

Context Aware Control Systems: An Engineering Applications Perspective

et al. 2020

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Cyber-physical systems revolve around context awareness, empowering objective-oriented services, products and operations based on real data. Self-aware and self-control systems are core elements in the Industry 4.0 framework towards self-sustainable adaptive manufacturing and personalized services. This development is witnessed by the context-aware pervasive assistance to users and machines in decisions making process for optimizing product performance and economic yield. While integration of the virtual and the physical world entails smart sensors communication and complex data analytics, it relies on artificial intelligence tools to manage process operations. The objective of the article is to create awareness that systems & control community must address theoretical and practical aspects from a larger perspective. Context aware control is emerging as a natural solution to maximize the use of available sensing instrumentation and the relatively low cost data logging, i.e. an important source for extracting information, interpreting and using context information and adapt its functionality to the current context of use. This article presents a concise overview of applications where context aware systems and control methodologies are relevant in the seven societal challenges acknowledged by European policy-makers: Digital Society;

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Section: Urban Planningmentioning

confidence: 99%

Context Aware Control Systems: An Engineering Applications Perspective

et al. 2020

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“…Masmitja et al [6] presented a complete study to derive the optimal path to conduct by a surface vehicle in a range-only and single-beacon target localization scenario. Further in [17], Crasta et al extended the path optimisation problem for underwater target tracking using multiple trackers. Whereas all these works have been conducted for the ROTT methods, some of the results derived can also be applied in the AOTT.…”

Section: A Optimal Pathmentioning

confidence: 99%

Area-only method for underwater object tracking using autonomous vehicles

Masmitja

Gomáriz

Río

et al. 2019

OCEANS 2019 - Marseille

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The use of autonomous underwater vehicles for ocean research has increased as they have a better cost/performance ratio than crewed oceanographic vessels. For example, autonomous vehicles (e.g. a Wave Glider) can be used to localise and track underwater targets. Whereas other researchers have been focused on target tracking using acoustic modems, here we present a novelty method called area-only target tracking. This method works with commercially available acoustic tags, thereby reducing the costs and complexity over other tracking systems. Moreover, this method can be used to track small targets such as jellyfishes due to the tag's size. The methodology behind the area-only technique is shown, and results from the first field tests conducted in Monterey Bay area are also presented.

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“…Existing sensor network location schemes could be divided into two groups [26]: range-based and range-free. Rang-based methods need to obtain the distance between the unknown node and the adjacent known node [27]. Typical techniques mainly include Time of Arrival (TOA) [28], Time Difference of Arrival (TDOA) [29], Angle of Arrival (AOA) [30], and Received Signal Strength Indicator (RSSI) [31].…”

Section: Related Workmentioning

confidence: 99%

A Localization Algorithm for Underwater Wireless Sensor Networks Based on Ranging Correction and Inertial Coordination

Guo¹,

Kang²,

Han³

et al. 2019

KSII TIIS

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Node localization is the basic task of underwater wireless sensor networks (UWSNs). Most of the existing underwater localization methods rely on ranging accuracy. Due to the special environment conditions in the ocean, beacon nodes are difficult to deploy accurately. The narrow bandwidth and high delay of the underwater acoustic communication channel lead to large errors. In order to reduce the ranging error and improve the positioning accuracy, we propose a localization algorithm based on ranging correction and inertial coordination. The algorithm can be divided into two parts, Range Correction based Localization algorithm (RCL) and Inertial Coordination based Localization algorithm (ICL). RCL uses the geometric relationship between the node positions to correct the ranging error and obtain the exact node position. However, when the unknown node deviates from the deployment area with the movement of the water flow, it cannot communicate with enough beacon nodes in a certain period of time. In this case, the node uses ICL algorithm to combine position data with motion information of neighbor nodes to update its position. The simulation results show that the proposed algorithm greatly improves the positioning accuracy of unknown nodes compared with the existing localization methods.

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Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization

Cited by 36 publications

References 11 publications

Context Aware Control Systems: An Engineering Applications Perspective

Context Aware Control Systems: An Engineering Applications Perspective

Area-only method for underwater object tracking using autonomous vehicles

A Localization Algorithm for Underwater Wireless Sensor Networks Based on Ranging Correction and Inertial Coordination

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